We got a new GP50 yrc1000 robot that will be 3d printing but during the first testprint it slowed down in different places.
It seems that when ever the points a close to each other the robot slows down. I made a small test program(please see the attached files) to illustrate this.
When running a similar program on our MH24 the speed is constant. No slowing down what so ever.
The tool is calibrated and the robot is no where near a singularity.
Does anybody have a good idea as to why this is happening?