I'm working on a project using on of the new Fanuc SCARA robots. While the interface is different, it is running handling pro so it programs exactly like a 6 axis with a few exceptions. The main differences are between Joint motions and linear motions. Since the SCARA only has 4 Axis
L P[1,6] and J P[1,4] are the same axis.
My application picks up a cylinder and brings it over to a laser and then spins the tool around while a laser cuts off the extra. I have a custimization that allows me to monitor the speed of J4 in deg/s. Once the robot is up to a predefined speed it turns the laser on for 1 or more revolutions before turning it off.
My issue is that when changing override % it also changes the acceleration and deceleration. So I'm trying to get it up to speed as quickly as possible without going too much faster then my desired speed. I need the cutting to happen at 4 RPS or 1440 deg/s. I need it to stay at that speed for 720 degrees.
Test 1
Test 2
Override = 100%
J PR[1] 34% CNT100
does not ever get to speed of 1440 deg/s
J PR[1] 50% CNT100
gets to 1440 for 5 degrees
Test 3
Is there a was to increase the acceleration? I only need to do it when all the other axis are stationary. Any Ideas?