Hi,
we are trying to estimate the duration of the movement of a Fanuc M-20iA with a 30iB controller for a given movement (JOINT motion). Does anyone know how the acceleration ramps are calculated? We were unable to find any clear documentation. We found some system variables (ACCEL_TIME1, ACCEL_TIME2, MIN_ACCTIME, ...), but could not determine a formula for how to compute a duration from those variables. It seems that the maximal allowed acceleration is not limited with a clear value, but depends on those variables as well as the acceleration and speed override.
Does any of you have already attempted to calculate the duration of a movement?
Some details of our environment: For execution of a movement we feed our positions (joint values) using a KAREL program into the controller, additionally we provide an override value for acceleration and speed (register R[3]% und ACC R[2]).
Regards,
jhk