Discrepancy between the time defined in the movement instruction (\T) and the actual time required

Luca0101

Hi, I realized that in RobotStudio it is possible to define the total time during which the robot moves within a movement instruction. Therefore, I expect that if I specify, for example, 1 second in my movement instruction, this should be reflected in the actual simulation time, but this is not the case.

In the following example, whether I calculate the time using a clock or plot the position/velocity/acceleration graphs, I always obtain a simulated time greater than the specified one, and it varies depending on the target position. The robot is obviously not saturated, as there is not only acceleration and deceleration but also a phase at constant speed, and simply increasing the maximum reachable speed should allow it to meet the expected time.

However, it seems that when calculating the speed, the system selects a value lower than what is actually necessary, causing this discrepancy.

The speed indicated before the \T time parameter is essentially irrelevant since it is replaced by the speed calculated to reach the target within the specified time.

Is this behavior normal or anomalous?