Inconsistent tool speed with close points
I am using a IRC5 6400 for machining complex surfaces and am having difficulty maintaining consistent TCP speeds. I am using a third party software to slice/ auto generate G code from STL file and then using RS CAM converter to generate Rapid code.
The Slicer software produces a lot of targets, very closely spaced at fractions of a mm apart.
The problem is that the robot tool speed varies wildly when executing the machining program.
I suspect that the robot is struggling to execute the Rapid instructions fast enough and is hesitating whilst it is processing a buffer of code with very short movements.
Are you aware of any fix or workaround that may assist to minimize the speed variations?
Typical machining speeds are about 200mm/s and robtarget spacing at between 0.2 to 1 mm.
Any help would be greatly appreciated.