June 18, 2019, 01:07:04 PM

# Slow Speed Axis 6 (T)

### Author Topic:  Slow Speed Axis 6 (T)  (Read 652 times)

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October 10, 2018, 08:08:28 PM

#### Jsapet

##### Slow Speed Axis 6 (T)

Hello,

I have a problem with the speed of the 6 axis on the MH50 with the DX200.

When the axis 6 is moved linearly, it is very slow. I make a linear trajectory without axis 6, it is very fast and when I include a little rotation of the axis 6, it is very slow.

I do not understand!

Today at 01:07:04 PM

Guest
##### Re:  Slow Speed Axis 6 (T)

October 10, 2018, 11:01:35 PM

#### Schnicktar

##### Re: Slow Speed Axis 6 (T)
Do you have a VR speed that is set low?  What are the moments of inertia values (kg*m^2) in your Tool definition?

October 11, 2018, 04:18:52 AM

#### Jsapet

##### Re: Slow Speed Axis 6 (T)
Hi,

No VR set and no inertia value in tool definition (all parameter at 0)
The Movement are only MOVL V=1600......

October 11, 2018, 05:02:08 AM

#### Reintz

##### Re: Slow Speed Axis 6 (T)
Is the tool calibrated correctly? When you rotate the tool in tool cord. does it rotate around the actual TCP?

October 11, 2018, 09:24:49 AM

#### 95devils

##### Re: Slow Speed Axis 6 (T)
Verify correct tool data.  Set tool weight, center of gravity and moment of inertia properly.
Alcohol:  The cause and solution to all life's problems

October 11, 2018, 04:53:55 PM

#### Jsapet

##### Re: Slow Speed Axis 6 (T)
Reintz,
Yes the tool rotate correctly when i select it. The Weight, the center of gravity and moment of inertia are not set.

For the Weight is easy but the other, How can i do?

Extract of Tool.CND
//TOOL 7
///CRC 1606245591
///NAME OUTIL_DEGRAP
0.000,0.000,211.420,0.0000,0.0000,0.0000
0.000,0.000,0.000
0.000
0.000,0.000,0.000
0.000,0,1

October 11, 2018, 05:22:57 PM

#### 95devils

##### Re: Slow Speed Axis 6 (T)
Go to ROBOT, TOOL.  Assuming you only have one tool, go to UTILITY, W. GRAV POS MEASURE.  Press and hold FWD until the Home icon fills in.  Let go of FWD.  Press and hold FWD again.  The robot will go through a dance.  When complete, press REGISTER.  Write data yes.  This will calculate the weight and center of gravity.  Moment of inertia you will have to calculate.

Today at 01:07:04 PM

Guest
##### Re:  Slow Speed Axis 6 (T)

October 11, 2018, 06:03:18 PM

#### Jsapet

##### Re: Slow Speed Axis 6 (T)
OK, thanks. I'm trying Monday and I'll make you a return

October 15, 2018, 06:37:47 PM

#### Jsapet

##### Re: Slow Speed Axis 6 (T)
Hello,

It's perfect. thanks a lot to everyone.

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