Welding robot DX200.
In one of the jobs there is a tight corner the robot welds through. I noticed right away when writing the job in MotoSim that there's a lot of axis movement in that corner but there was no other way to go through it as I couldn't stop the weld in the corner and I didn't have any better angle to approach from.
It workd in MotoSim with the given speed and most of the times it works on the robot as well, but sometimes I get an alarm going through the corner: Excessive Segment [R1:HIGH SLURBT] - R and T highlighted.
Alarm Reset and restart will make the robot successfuly finish the weld.
I'm using P-variable (value found with search) to shift this weld and it seems that certain P-variable values shift the corner to where the axis movement is still to great for the given speed . I've seen this before where a linear movement with shift could not be executed with a certain P-variable value, but worked great without it.
I decreased the speed for the corner - I still get the alarm but not so often.
Now my question - is there a parameter (or any other way) that could make the robot go through this corner with the maximum speed it can handle BUT not greater than defined by the MOVL instruction?