Speed up slow scara robot even all movements are J and set to 100% (CNT25 for offsets that are currently 0)

    Hi all,

    How should I make the robot to move faster?

    The code I have done looks like:

    Code
       9:  PR[3,3:offset]=0    ;
  10:J P[1] 100% CNT25 Offset,PR[3:offset]    ;
  11:J P[1] 100% FINE    ;
  12:  CALL FX    ;
  13:J P[1] 100% CNT25 Offset,PR[3:offset]    ;
  14:  PR[3,3:offset]=0    ;
  15:J P[2] 100% CNT25 Offset,PR[3:offset]    ;
  16:J P[2] 100% FINE    ;
  17:  CALL FX    ;
  18:J P[2] 100% CNT25 Offset,PR[3:offset]    ;

    The issue is that the robot moves very slowly between points. It's a SR6iA scara robot.

    As you can see all the points are J and are set to 100%. It's an application that requires the robot to go to FINE positions, execute a PLC instruction with handshake (glue application/shot) and then leave to another position as fast as possible.

    Now offsets are set to 0, but I plan to leave the offset movements there for later use if needed.

    Tool weight still has not been initialized.

    What I can see now is super slow even the speed override is 100% on the pendant and that the robot is in AUTO mode.

    Any hint on how to speed things up?

    Thank you all.

  • Go to Best Answer

    Using CNT25 will slow much the robot movement, as Doctor_C suggested, try to use linears, and I also suggest you to try CNT100 with linear movements.

    Fanuc trims the path much more with J movements than with L movements, so a CNT100 may be impossible to use on J movements, but perfectly fine on linear ones, another tip is to use lower CNT on approach points, but higher when you leave the zone afetr a FINE point because robot will have less speed and it will not trim the path same way as when apporaching.

    Also, another step further... if you will be aplying glue, you may need to learn how to use the DB operator in order to send instructions to PLC like the gluing program or even opening the glue applicator while in movement, this will speed up much more your application.

    Thanks for your post Shellmer, it seems quite easy to use,

    In every FINE line on my code, I should do it like this:

    Code
    J P[1] 100% FINE DB 2.0mm CALL FX ;

    And that would be perfect to increase the speed.

    The only drawback I can see is that when speed is changed the distance won't... So it will lead to different results unless DB allows to adapt itself in function of the speed.

    In any case, that would reduce times for sure, will try it asap.

    Quote from robotecnik

    Thanks for your post Shellmer, it seems quite easy to use,

    In every FINE line on my code, I should do it like this:

    Code
    J P[1] 100% FINE DB 2.0mm CALL FX ;

    And that would be perfect to increase the speed.

    The only drawback I can see is that when speed is changed the distance won't... So it will lead to different results unless DB allows to adapt itself in function of the speed.

    In any case, that would reduce times for sure, will try it asap.

    When using db the triggering point should not change by much since it is triggering the function X distance before the point but... this is fanuc, I would expect it to change ennough to matter if you have little distances.

    As a rule of thumb with gluing applications and time sensitive communications robot should always run at 100% speed, often an $Override=100 is added first line of the gluing program just to make sure it will run at full speed all the time even if an operaror reduced the override a few seconds ago.

    I usually store the previous override into a register, change it to 100% and restore it to the previous value after finishing the path.

    Also, if you want more speed not only you should use the db instruction but you should get rid completelly of the fine points... if you need to do a little point of glue you won't be able to do it probably, but if you will do a glue seam you should extend your start and end points a little and activate the gluing gun before reaching the start and deactivate it a little before reaching the end.

    Avoid singularities at all cost since when happening it changes the tcp speed a lot and more glue will be applied as the robot is slowed down.

Advertising from our partners