The problem is that I want to shorten the trim time of my program. I compare Kuka with SINUMERIK numerical control machine, the total time of a same trajectory has great distance. The time of Kuka is about 40mins, but the SINUMERIK is just 5mins.
The speed are all set to be 2500mm/min.
The code of Kuka is as below:
&ACCESS RVP
&REL 73
&PARAM EDITMASK = *
&PARAM TEMPLATE = C:\KRC\Roboter\Template\vorgabe
DEF R4339_080803( )
INT i
GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( )
INTERRUPT ON 3
BAS (#INITMOV,0 )
$OV_PRO=100
SPTP XHOME WITH $VEL_AXIS[1] = SVEL_JOINT(1.0), $TOOL = STOOL2(FHOME), $BASE = SBASE(FHOME.BASE_NO), $IPO_MODE = SIPO_MODE(FHOME.IPO_FRAME), $LOAD = SLOAD(FHOME.TOOL_NO), $ACC_AXIS[1] = SACC_JOINT(PDEFAULT), $APO = SAPO_PTP(PDEFAULT), $GEAR_JERK[1] = SGEAR_JERK(PDEFAULT), $COLLMON_TOL_PRO[1] = USE_CM_PRO_VALUES(0)
$BASE = Base_DATA[2]
$TOOL = Tool_DATA[2]
$VEL.CP = 0.042
$VEL.ORI1 = 100
$VEL.ORI2 = 100
$ACC.CP = 2
$ACC.ORI1 = 200
$ACC.ORI2 = 200
$ADVANCE = 5
LIN{X -11.96,Y 9.16,Z 30.41,A 0.0,B 1.58,C 178.79}
LIN{X -10.53,Y 11.79,Z 30.44,A 0.0,B 1.39,C 181.56}
LIN{X -9.6,Y 13.41,Z 30.46,A 0.0,B 1.27,C 181.77}
LIN{X -8.69,Y 14.87,Z 30.49,A 0.0,B 1.15,C 181.96}
LIN{X -8.26,Y 15.5,Z 30.51,A 0.0,B 1.09,C 182.05}
LIN{X -7.83,Y 16.08,Z 30.52,A 0.0,B 1.03,C -177.88}
LIN{X -7.47,Y 16.54,Z 30.53,A 0.0,B 0.99,C -177.81}
LIN{X -7.12,Y 16.96,Z 30.54,A 0.0,B 0.94,C -177.76}
LIN{X -6.77,Y 17.34,Z 30.55,A 0.0,B 0.89,C -177.71}
LIN{X -6.43,Y 17.68,Z 30.56,A 0.0,B 0.85,C -177.66}
LIN{X -6.1,Y 17.98,Z 30.57,A 0.0,B 0.81,C -177.62}
LIN{X -5.77,Y 18.24,Z 30.57,A 0.0,B 0.76,C -177.59}
There are about 14630 points like these in my program, and the distance between each is about 1mm.
Even I increase the $vel.cp, the run time will not shorten as expected.
What is the problem of my code? Thanks in advance!