Hi guys,
I've been stuck on this application for past week.
Basicslly I'm using a splice block to dispense adhesive around a rectangular workpiece.
I've successfully programmed the block and determined constant speed on all corners with the help of $const_vel range in 8.3
Manual states that when using slin and spl motions, path should be not affected by velocity.
Now I slowed everything down, the entire block to the slowest speed I could achieve on the corners. (0.2-0.3 m/s)
My 4 corners are 90degrees, small corners.
When running slow(10-40% ov_pro), robot stays on path around the corners.
Soonest I speed it up, once the robot takes the 90 at the corner it almost like jerks(overshoots the corner) then recovers but it leaves a messy corner.
I'm using slin for straights, then slin right before the corner, then spl at the corner, and another spl just after the corner.
I've tried adjusting the positions of my spl's, making them symmetrical, spacing them out, bringing them closer. Tried everything.
Every time path is not maintained at high speed and my spline movement overshoots the corner.
Anyone ever had that problem and get it to work properly?
Is there a way to run it fast and get clean 90 degree corners?
I've adjusted jerk parameters, velocity, tried using scirc. Not sure what else I could try.
Thanks !