Hello all,
I am programming a second hand M3ia 6A delta robot with a R30iA mate controller.
I've set all the J movement speeds to 100% and the L movement speeds to 10000mm/sec.
That robot should really fly, but it i moving super slow, there is difference from T1, but not that much.
Being a secondhand robot, lots of things can be modified...
Where would you search for the reasons of that?
- I've seen $MCR.$GENOVERRIDE was at 10, changed it to 100, but the behavior is the same.
- The $MCRGRP.$MCR_GRP[1].$PRGOVERRIDE value is 100.
- OVERRIDE SELECT (MENU -> SETUP -> OVRD SELECT) function is disabled.
- there is a payload of 0.2kg.
- If I check the web server from my edge browser, Under safety Status Information I can see HAND BROKEN is TRUE, even the $HBK_ENBL variable is FALSE.
Is something else I should look for?
Notice: I have no clue of what this robot is capable to do in terms of real speed, it is moving a very light load and delta robots are super fast usually... It's an impression only, but at those speeds it takes 5 seconds to pick a part and leave it over a distance of 1meter +/-. The cycle is the usual one in those cases:
J HOME 100% CNT0.
J approach the calculated pick part position speed 100% CNT0.
L get in touch with the part 10000mm/sec FINE.
L CNT0 go back to the approach position 10000mm/sec CNT0.
J HOME 100% CNT0.
J approach the part placing position speed 100% CNT0.
L Placing position 10000mm/sec FINE
J approach the part placing position speed 100% CNT0.
And start again.
Any idea or hint to what should I look for?
I won't have access to the robot this weekend, but I will have a copy of the md FTP folder at home.
Thank you in advance for your time and help.