More a question of curiosity than anything else.
I received a Roboguide cell, containing a R-1000iA/100F, with R-30iB Plus controller (software V9.30) mounted upside down between two small presses. This robot will perform simple material handling, taking a 30kg part from one press and leaving it on another press.
The robot didn't arrived yet, so the options were selected based on robot data sheet sent from FANUC.
But what intrigued me as well the technician who originally built the cell and made the program is the fact, contrary to common sense, the same path, with same CNT and ACC combination, is little bit faster if we use linear movements instead joint movements.
I noticed this particular model accepts 3000 mm/s speed on linear instructions, different from the majority of FANUC robots, that accept 2000 mm/s max, even the smaller ones.
If I try to do the same path with, lets say, a R-2000iC/165F or a M900iB/280, joint program is faster than linear program. This also happen with smaller robots, like M10 series.
I found some exceptions, like a M-410iC/110 that accept 4000 mm/s. In this case, linear program is also faster than joint program. Some LR Mate robots accepts 4000 mm/s as well. But even in these cases, robot should fly faster in joint than in linear.
I'm intrigued about this.
