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Roboguide Truncating Robot Speed

  • Muteki
  • January 25, 2020 at 12:17 AM
  • Thread is Unresolved
  • Muteki
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    • January 25, 2020 at 12:17 AM
    • #1

    I am trying to mock up some cycle times for a proposal to a customer. I am using a delta robot M-3iA/6A with some simple paths to get a rough estimate for cycle time. However even though all my speeds are set at 10000mm/s and 100% the robot never moves faster than 1500mm/s.

    Is there some setting I'm missing? Does Roboguide not support full speed for delta robots? Has this been happening to every robot on Roboguide and I just never noticed?

  • HawkME
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    • January 25, 2020 at 3:10 AM
    • #2

    How long are your movements? If the movement is too small then the robot won't have time to fully accelerate. You can test this out by making the move a longer distance and see if the peak speed increases.

  • Gunjan Trivedi
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    • January 26, 2020 at 4:39 PM
    • #3

    Acceleration time check

    Images

    • Oct17_motor-sizing-fig1.png
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  • Muteki
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    • January 27, 2020 at 2:48 PM
    • #4

    I tested this and this is not the issue, the peak speed remains about the same never going faster than 1500mm/s.

  • pdl
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    • January 27, 2020 at 2:56 PM
    • #5

    Are you using FINE terminations or terminations with low CNT values?

    Can you post your code?

  • Muteki
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    • January 27, 2020 at 7:25 PM
    • #6
    Code
       1:  UFRAME_NUM=1 ;
       2:  UTOOL_NUM=2 ;
       3:   ;
       4:J PR[1:Home] 100% CNT100    ;
       5:   ;
       6:J P[1] 100% CNT0    ;
       7:   ;
       8:L P[2] 10000mm/sec CNT0    ;
       9:   ;
      10:L P[1] 10000mm/sec CNT0    ;
      11:   ;
      12:J PR[1:Home] 100% CNT100    ;
      13:   ;
      14:J P[3] 100% FINE    ;
      15:   ;
      16:L P[4] 10000mm/sec FINE    ;
      17:   ;
      18:L P[3] 10000mm/sec FINE    ;
      19:   ;
      20:J PR[1:Home] 100% CNT100    ;
    Display More

    It is a super simple program, I was just trying to get an idea for cycle times with different robot types. I tried everything FINE, everything CNT100, mix and match. Nothing got the robot speed above 1500mm/s.

  • HawkME
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    • January 27, 2020 at 7:54 PM
    • #7

    I just created a simple program with the robot model in RoboGuide and it is showing motions greater than 4000 mm/s. Changing the area where the robot was moving had a big effect on speed. In some areas I was closer to 1500 mm/s. I think it has more to do with the physical nature of these robots.

  • Muteki
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    • January 27, 2020 at 7:59 PM
    • #8
    Quote from HawkME

    Changing the area where the robot was moving had a big effect on speed.

    What exactly do you mean by this?

  • HawkME
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    • January 27, 2020 at 9:08 PM
    • #9

    I moved the points around and got different results for peak speed.

  • Muteki
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    • January 27, 2020 at 10:05 PM
    • #10

    What version of Roboguide do you have?

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