I am trying to make an application of silicone deposit to glue, I have to pass the silicone with homogeneity and precision, but in the corners the robot slows to move to the points and increases speed to the next point. This creates mounds of silicone at the corners.
The silicone depositing machine is an external tool and the robot applies silicone to a rectangular piece.
I'm already using SLIN and SPTP points for this, I also use external TCP, I tried CONT with low approximations, also SYN OUT (with it I got about 60% of how it would have to be).
Does anyone have any idea how I can solve this problem?
The robot is model KR6 Agilus KRC4, KSS 8.3.32
Thanks for any help.