Problem:

When CP motion runs during an external axis moves, the robot doesn't reach expected velocity.

Situation:

I set some of parameters as below.

-$VEL.CP = 0.1

-$OV_PRO = 100%

At the points from P0 to P6 , the velocity gets 0.1[m/s] running this sample code with automatic mode.

The problem is it doesn't get 0.1[m/s] from P7 where the external axis starts to move.

---------------sample------------------

LIN {X 0,Y 0,Z 0,E1 0} C_DIS ;P0

LIN {X 1000,Y 0,Z 100,E1 0} C_DIS ;P1

LIN {X -1000,Y 0,Z 100,E1 0} C_DIS ;P2

LIN {X 1000,Y 0,Z 100,E1 0} C_DIS ;P3

LIN {X -1000,Y 0,Z 100,E1 0} C_DIS ;P4

LIN {X 1000,Y 0,Z 100,E1 0} C_DIS ;P5

LIN {X -1000,Y 0,Z 100,E1 0} C_DIS ;P6

LIN {X 1000,Y 0,Z 100,E1 180} C_DIS ;P7 the external axis starts to run from here

LIN {X -1000,Y 0,Z 100,E1 359} C_DIS ;P8

---------------sample------------------