Question like in the title.
Is there no difference of speed lin movements between t1 and t2?
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Dzonzi -
August 20, 2020 at 6:50 PM -
Thread is Unresolved
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there is
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What is max speed in t1 then?
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it depends.... it is a fraction of programmed speed that ensures robot stays within defined limits. safety standards impose 250mm/sec limit. actual speed limit may be different. perhaps the max on some robot is 170mm/sec. there maybe other limits imposed by BCO or safety controller or motion planner (approximated motion).
besides programmed speed is just a desired speed or speed limit. actual speed is something else and if you look closer there is acce/decel ramp, dpeed dips due reorientation, singularities, approximation etc.
similar limits may exist in T2 but in general they are not active so speeds equal to AUT /EXT mode are possible.