Hello,
I am having issues with a robot + positioner system not reaching programmed speeds. I have made a program that moves both in synchronous motion, with the TCP tracing a cylinder-like shape using the positioner for rotation and the arm for z-height. The first rotation does not move any of the external axes, and the robot arm keeps up with programmed velocity (.01 m/s). Every rotation after uses the positioner for rotation, and the movement speed of the system drops to around 0.002-0.004 m/s. The points are around 1 mm apart. I have tried using C_DIS of 0.8mm and C_VEL of 100% for interpolation, but this does not improve the speed. I have made a separate program that moves the rotational axis of the positioner at full speed to compare against and it is moving faster, but I cannot determine if it is truly running at 100 percent velocity.
Is there something in the configuration of the positioner that would be causing this? Or is it related to the program I am trying to run?
System Info:
KR70 R2100 + KP2 HV500 / KSS 8.7.5
Example code is below, showing the initial setup and problematic area:
...
BAS(#EX_BASE,32)
BAS(#TOOL,1)
$APO.CVEL = 100.00
PTP {A1 0.000, A2 -90.000, A3 90.000, A4 0.000, A5 -15.000, A6 0.000, E2 0.000, E3 0.000}
...
$VEL.CP = 0.010018
LIN {X -4.17, Y -51.77, Z 23.87, A 84.043, B 89.709, C -89.800, E1 -0.291, E2 5.956, E3 0.000, E4 0.000, E5 0.000, E6 0.000 } C_VEL
LIN {X -3.46, Y -52.70, Z 23.87, A 84.627, B 89.719, C -89.800, E1 -0.281, E2 5.371, E3 0.000, E4 0.000, E5 0.000, E6 0.000 } C_VEL
$VEL.CP = 0.010027
LIN {X -3.40, Y -52.77, Z 23.87, A 84.670, B 89.721, C -89.800, E1 -0.279, E2 5.328, E3 0.000, E4 0.000, E5 0.000, E6 0.000 } C_VEL
LIN {X -2.12, Y -54.16, Z 23.87, A 84.334, B 89.734, C -89.800, E1 -0.266, E2 5.665, E3 0.000, E4 0.000, E5 0.000, E6 0.000 } C_VEL
$VEL.CP = 0.010035
LIN {X -2.06, Y -54.22, Z 23.87, A 84.235, B 89.736, C -89.800, E1 -0.264, E2 5.764, E3 0.000, E4 0.000, E5 0.000, E6 0.000 } C_VEL
LIN {X -0.67, Y -55.49, Z 23.87, A 82.770, B 89.751, C -89.800, E1 -0.249, E2 7.228, E3 0.000, E4 0.000, E5 0.000, E6 0.000 } C_VEL
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Any help is appreciated!