Hi, all!
I have 2 linear paths: with 2 points and with 100 points. Start and goal points are equal. Velocity is 800 mm/sec. Distance between start and goal - 800 mm.
1-th path. 2 points (start and goal). Time is 1.0 - 1.1 sec. It's normal because of acceleration / deceleration.
2-nd path. 100 points - (start and goal are the same as in previous path) + intermediate points on a straight line with const orientation. Distance between points is 800 / 100 ~= 8 mm. Time of program execution is 1.55 sec. It is 1.5 time slower. Why? 8 mm between points is not very big distance. Smoothing is CNT100.
Fragment from program:
Code
...
46:L P[34] 800mm/sec CNT 100 ;
47:L P[35] 800mm/sec CNT 100 ;
48:L P[36] 800mm/sec CNT 100 ;
49:L P[37] 800mm/sec CNT 100 ;
50:L P[38] 800mm/sec CNT 100 ;
51:L P[39] 800mm/sec CNT 100 ;
52:L P[40] 800mm/sec CNT 100 ;
...
P[35]{
GP1:
UF : 0, UT : 1, CONFIG : 'F U T, 0, 0, 0',
X = -504.536 mm, Y = 1505.755 mm, Z = 1391.905 mm,
W = 103.564 deg, P = -19.290 deg, R = 175.131 deg
};
P[36]{
GP1:
UF : 0, UT : 1, CONFIG : 'F U T, 0, 0, 0',
X = -504.536 mm, Y = 1504.201 mm, Z = 1383.438 mm,
W = 103.564 deg, P = -19.290 deg, R = 175.131 deg
};
P[37]{
GP1:
UF : 0, UT : 1, CONFIG : 'F U T, 0, 0, 0',
X = -504.536 mm, Y = 1503.049 mm, Z = 1373.416 mm,
W = 103.564 deg, P = -19.291 deg, R = 175.131 deg
};
P[38]{
GP1:
UF : 0, UT : 1, CONFIG : 'F U T, 0, 0, 0',
X = -504.536 mm, Y = 1501.321 mm, Z = 1362.011 mm,
W = 103.564 deg, P = -19.291 deg, R = 175.131 deg
};
P[39]{
GP1:
UF : 0, UT : 1, CONFIG : 'F U T, 0, 0, 0',
X = -504.536 mm, Y = 1499.766 mm, Z = 1353.198 mm,
W = 103.564 deg, P = -19.291 deg, R = 175.131 deg
};
...
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