We run R-30iA, R-30iB, & R-30iB+ controllers in house for production. I've had an issue regarding the R-30iB.
I can see a substantial difference between travel and weave speeds while the robot is welding in Teach Mode. Our technicians run their program touch-ups in T2, but they do leave one of our safety doors open as a precaution, causing the controller to divert to T1 due to Safety PMC.
Is there something within the variables I can change that the Safety PMC will not override? Since T1 is capped at 250mm/sec, would it make since to add more circle moves within the area to keep the points close?
Would increasing the variable $SCR_GRP[1] > $JOGLIM-JNT[1] change anything?