Fanuc S-430iW / RJ3 controller running HandlingTool v5.30-3G.
[Screenshot attached showing end of arm, motion path (green with white normal vectors) and the static dispenser.]
This is an old robot being re-purposed in a dispensing application where the arm holds the part (a cylinder) so that the cylinder axis is co-linear with the J6 axis. The dispenser is static and oriented vertically. The motion path is imported from Rhino via RoboDK is assigned linear motion with speeds of 20mm/sec at each point. Where the overall motion path is predominantly linear, actual speeds seem to track with programmed motion speeds. However, where the motion path is dominated by J6 rotation, motion speeds are way too high. It seems to run at max joint speed here. The dispenser is more or less fixed output so faster motion results in under-application (or non-application) where the motion speed is too high.
I've flipped $PARAM_GROUP[1].$spin_ctrl from 0 to 1 but didn't observe much (if any) difference.
Any insight into how to control motion speed here is greatly appreciated.
Thanks.
Matt