FANUC smoothing with radius (not CNT)

Hi!

I need smoothing for movements with radius. I use CNT but the physical meaning of CNT is the percent of desired velocity required at waypoint.
And the positioning error while using CNT is unknown. Where can I find smoothing with radius? Something like CDIS in KUKA.

We use option Advanced motion package.

I still have perfomance issues on my trajectories so i made test programs with 3 trajectories with Timers to understand how CNT and CR works.

On the first screenshot i show 3 trajectories, first left contains 2 points, distance between them is ~800mm
2-nd in the middle slighty longer. It is for understanding how robot will smooth trajectory.
3-rd in right is the same as first but with 89 points (~ one point for each 9 mm)

Linear move speed set for 800mm\sec - Data register 11
CNT setup from Data register 10

So then my screenshots from Roboguide with result of this timers -
First trajectory in every case executed for about 1.0 - 1.1 seconds, so if we think with speed 800mm\sec trajectory with 800mm length should be executed close to 1 second. So this 0.05 - 0.1 sec error is normal for acceleration and deceleration.

But 3-rd I can't understand
CR100 - means that robot should smooth movement in radius of 100 mm, so at straight line it should move on max possible speed and i need got also about 1.1second for trajectory, but i got 13.44 !!!
CNT50 ? what its means? 50% of maxumum speed? if so why i got 8 sec and not 2 sec?
CNT100 ? what its means? No deceleration? Okay, why i got 1.55 and not 1 second as in first trajectory?

P.S.
Real robot execute this trajectories same as Roboguide. So test is robust

For understanding why i need this tests
I have a task with a lot of points for painting that should executed on high speed like 600 mm/sec - 1000 mm/sec
And a lot of parts have complex geometry so i need a lot of points on trajectory to make good paint.

: )

Why robot have so bad performance with CR100 (it isn't CNT, it is CR, we use option "Advanced motion package")?

Example:
38:L P[26] R[11:L]mm/sec CR100 ;

Quote from kluk-kluk

I think it is because the speed is not fixed but in a variable.
Every next line the program will have to check if the variable is changed, so it will stop at the end of each line.
Try to set the speed with a fixed number.

Yes, it's very helpful! 2 sec instead of 13 sec for path with CR100

But we still have a question...why robot moves between only 2 points faster than between them with intermediate points (with smoothing CNT100 or CR...)

I created new topic for this question:
https://www.robot-forum.com/robotforum/fan…mber-of-points/