Hi all,
I have auto generated trajectory for FANUC. And sometimes robot stops because of very fast linear motion. Distance between two points is very small (~0.1 mm), but change of orientation is big (for example 30 deg). Linear velocity isn't slow, may be 100 mm/sec. Robot tries to do this motion extremely fast (no singularity, only fast rotation of joints) and stops with error.
Does FANUC have system flag for reducing linear velocity in situations when velocity excess? Reducing velocity isn't bad for me.
KUKA has $CP_VEL_TYPE for such cases:
Linear velocity reduction
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Vlad222 -
December 19, 2022 at 12:51 PM -
Thread is Unresolved
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What if you decrease velocity for all points, let's say 50mm/s?
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Hey Vlad,
you can either
- decrease the acceleration of the movement (for example : L P[1] 100mm/sec CNT 100 ACC25)
- decrease the speed of motion segments
- add PTH instruction and try to reduce the CNT parameter of the motion instruction
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Vlad,
I agree with Janusz robotyk on decreasing the acceleration using an ACC value well below the default of 100. An ACC of 65 will still give smooth transition between points without noticeable stop or delay before moving to the next point. ACC acts a little differently when the robot is setup for Cycle Time Priority vs Path Priority. With Cycle Time Priority, an ACC of 65 can really smooth out some transitions and rotations that can cause the arm to shudder or reorient too quickly.
If rotation is majority the motion is, you might wan to consider using a Joint motion saved as a joint orientation. That way you guarantee the orientation of all axis. I would use the ACC command to slow the rotation. Sounds like you aren't moving very far, less than 1 mm, so a linear motion vs joint motion shouldn't be an issue. If you have a linear motion saved as a Cartesian orientation, axis 6 may rotate in unpredictable ways.
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Change the units from mm/s to deg/s
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100% agree with Titus.
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