LIN-Motion slow?

    Hi,

    I’m currently working on a project containing one KR16 - KRC5.


    I’ve written in a previous thread that I’m a previous ABB-programmer.


    I’m having issues with the speed of some ”short” LIN-motions. (It’s a movement of 500mm or so)

    I’m using full acceleration and 2m/s but the movement still seems pretty slow compared to the PTP ones.

    Is it something obvious when working with LIN-motions that I’m maybe missing out?

    (I’ll paste the code later, just putting this here if anyone knows something of this little information above)

    When exactly does this happen?

    - In which operation mode?

    - How short are the moves?

    - Is it better when using SLIN instead of LIN?

    - Is it better if you use spline blocks instead of single motion command with blending?

    - Do you use blending? Which type with what blending configuration?

    ...


    Just to many possibilities with that minimum amount of information you are giving. Please show at least your program.


    Fubini

    Ptp will always beat Lin or atleast be equally fast in my experience. 2m/s is no where near max. Whereas 100% on ptp is max.


    I usually put the speed by setting the speed from what is defined in $VEL_MA. As those are the maximum values. If you absolutely need the last squeeze of speed your robot can muster.


    To set max linear speed (.CP) and orientation (.ORI1 and .ORI2)

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