Hi All,
I have a KR 10 R1100 sixx C robot which gives me some headaches. Small parts are placed on a special tray, next to the robot. The tray has many cut out holes that hold the individual parts. The robot picks the parts from the tray, does some processing and puts them away somewhere else. Then it moves to the second part, picks it up, etc.
It all works, with the exception of 1 single part, somewhere in the middle of the tray.
What happens is that the gripper moves in a ptp motion to a position 10mm above the part. Then it moves down 10 mm (linear motion), grabs the part, and moves up again.
At this one specific part, axis 4 needs to be rotated by ~180 degrees to make this 10mm motion. This will exceed the maximum joint velocity, making the robot stop.
I've reduced the velocity of this linear motion already, but this doesn't help. Reducing even further is not desirable, as this will slow down the picking of all (~1000) parts.
What I basically want to tell the robot is to make this motion at its desired speed, but that it is ok to slow down if 1 axis cant keep up.
Any idea how to do this?
I don't have access to the robot at the moment, hence no code example. If needed, I can add this later on.