Hello,
I've been trying to test out the stream motion option (j519) on roboguide with moderate success. I can get the robot to move the way I want, but only PAINFULLY slow, (something like 0.5 mm/s, absurd). I am sending cartesian positions. Anything faster throws jerk errors.
My first test was just to get the tcp to move in a straight line, so this path is nothing crazy.
The manual says there is discrepancy between the position given in the robot status update (servo position) and what is commanded, and they recommend not to use the position in the status packet as a base for path generation. However, I found that if I don't do this (use the point sent in the first status packet as p0 in my path), then I can't get the robot to move at all.
Does anyone have experience with stream motion that could give me some pointers? I'd really appreciate it! Do you increase speed gradually? Is there some key setting / config to manage this? (From what I see speed, accel and jerk limits are readonly).
I've seen a few other posts around like this one: Output Achieved Positions , where some people seem to be in the same predicament as me and others seem to be doing much better!
Any wild thoughts as to what could be going wrong here are welcome. I've attached the script I'm using to stream, it's a python quickie just for testing so it's a little gross (saved as a text file), but if anyone wants to see it, knock yourselves out.
There's some stuff in there to handle the tool frame, but I had the same issue when working without a tool.
Thank you !