Fanuc robot doesn't move at the programmed speed

    First of all, hello to everyone :hi-bye:.

    I have a fanuc cobot (CR-15iA) with the R30-iB plus controller. It is a vision application, and the problem I have is that when I have movements that approach the limits of the axes, the speed drops :wallbash:. As if the cobot was being protected, but being a vision application with a profile sensor it cannot have those speed drops. The measurement movements are at 600 mm/s speed.

    The question is if exists some DCS parameter or varible that is protecting the robot? Or something that ensures it runs at the programmed speed. :gaah:

    Thanks.

  • MOM May 24, 2024 at 7:38 PM

    Approved the thread.

    The program has joint and linear moves, but I only cares about the linear moves.

    Mainly the limits of the axis 2 & 3.

    No, I don't have safety zones yet. Only I have the payload and that's all.

    How can I bypass the DCS?

    Quote from Chuy_Buttowsky

    Mainly the limits of the axis 2 & 3.

    Is the robot approaching a pose where the elbow would be nearly straight?

    Quote from HawkME

    Also it is a collaborative robot. It may need to reduce speed when the reach is extended in order to maintain safe force limiting.

    That's a potential factor. For a Cobot, that elbow is a potential risk -- there are certain poses where small motions of the TCP can translate into large motions of the elbow, and the elbow's speed has to be safety limited just as much as the wrist speed, otherwise it could club someone in the head with dangerous force.

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