What can be done to make the toolpath smooth but accurate?
For example:
Code
DEF Loged2( )
EXT BAS (BAS_COMMAND :IN,REAL :IN )
;FOLD INI
BAS (#INITMOV,0 )
;ENDFOLD (INI)
;FOLD STARTPOS
$BWDSTART = FALSE
PDAT_ACT = PDEFAULT
BAS(#PTP_DAT)
FDAT_ACT = {TOOL_NO 0,BASE_NO 0,IPO_FRAME #BASE}
BAS(#FRAMES)
;ENDFOLD
;FOLD SET DEFAULT SPEED
$VEL.CP=0.2
BAS(#VEL_PTP,100)
BAS(#TOOL,0)
BAS(#BASE,0)
$APO.CDIS=0.5
;$APO.CPTP=0.5
;ENDFOLD
$ADVANCE = 3
PTP $AXIS_ACT ; skip BCO quickly
$BASE = {FRAME: X 2450.554,Y 537.067,Z 388.000,A -90.000,B 0.000,C 0.000}
$TOOL = {FRAME: X 561.570,Y -0.182,Z 298.367,A -90.000,B 0.000,C 90.000}
PTP{X 812.193, Y 251.208, Z 50, A 0, B 0, C 0 }
PTP{X 812.193, Y 251.208, Z 35, A 0, B 0, C 0 }
$VEL.CP = 0.1
LIN{X 812.193, Y 251.208, Z 0, A 0, B 0, C 0 } C_DIS
$VEL.CP = 0.5
LIN{X 964.158, Y 251.208, Z 0, A 0, B 0, C 0 } C_DIS
CIRC{X 983.25, Y 243.3, Z 0, A 0, B 0, C 0 },{X 991.158, Y 224.208, Z 0, A 0, B 0, C 0 } C_DIS
CIRC{X 983.25, Y 205.116, Z 0, A 0, B 0, C 0 },{X 964.158, Y 197.208, Z 0, A 0, B 0, C 0 } C_DIS
LIN{X 812.193, Y 197.208, Z 0, A 0, B 0, C 0 } C_DIS
LIN{X 812.193, Y 251.208, Z 0, A 0, B 0, C 0 } C_DIS
$VEL.CP = 0.4
LIN{X 812.193, Y 251.208, Z 50, A 0, B 0, C 0 } C_DIS
PTP{X 812.193, Y 344.355, Z 50, A 0, B 0, C 0 }
PTP{X 812.193, Y 344.355, Z 35, A 0, B 0, C 0 }
ENDUnfortunately, the robot slows down at each end.
If i change:
Code
$APO.CDIS=20It goes without pauses, unfortunately with smoothing, i.e. less accuracy. What to do to make it without pauses with accuracy?
Regards.
