Faster Lin motions

DEF_VEL_CP=2.0

Change this variable in the config.dat to 3.0

or $VEL.CP=3.0

that should be in KRC:\R1\System\$CONFIG.DAT

you can search for things using WorkVisual

btw Agilus arm is not very long. and for a given move distance is fixed.

so to reach higher speeds over short distance you need .... acceleration.

as everyone learned in high school, basic Newtonian motion is described as follows

(for simplicity with no initial values)

v=a*t

a=x*t^2 / 2

this tells that with infinite reach and enough of time you can get high velocity... eventually (like NASA ion engine).

but robot arm is no spacecraft, it has limited reach, and we don't have infinite space and time.

so we need to turn the equations around to see what else we get.

doing some basic algebraic operations using those same basic equations you get

v=sqrt(2*a*x)

which is speed expressed as a function of distance rather than time.

interpretation:

sqrt is square root (a monotone function, not linear but always increasing) and ... it is not something we can change

number 2 is a constant (so we cannot change it)

x is the distance traveled which is normally fixed for given motion (and limited by robot arm reach)

so... the only thing left to get increased velocity is the increased acceleration.

and to get larger acceleration you need one or more of following:

reduce inertia (reduce loads) and use correct load data. this is something you can change

increase programmed acceleration value. this is something you may change

use more powerful motor. this is something you cannot change that on a factory robot