Hi all,
I have troubles with linear trajectory while welding. Sometimes robot has big deviation from program path. There're 2 lines at picture:
- program (ideal) traj - white line + white points.
- real traj - red line.
Deviation at picture is huge (about 4 mm). Velocity is very small ~6 mm/sec. Tool is right. It isn't near to singularity.
Robot has reorientation but not large (joint rotation not critical). Path is good without reorientation. But I need this reorientation.
I add to ARM Control right load data for S-head and U-arm. Tool load data also is correct. Smoothing is very small (~0.1 mm).
How can I improve path accuracy? May be by changing some internal parameters? May be YASKAWA has a flag - reducing velocity for saving accuracy? Robot is MA1440 (DX200). It is new (1 year old).
