V_Ori issue

shahaboid

Hi,

I am having problem with increasing the orientation velocity (V_Ori) during a move. I want to do a sudden orientation change at the end of one path and continue the new path, but this happens too slow ... it means no matter how big my v_ori number is, the robot moves slow ... I even tried to increase both v_tcp and v_ori together to see if there is a relation between them, but still nothing interesting ...

My VelSet is set as following:

VelSet 100,200;

Steve_Murphy

Hello,

 

Basically one has to see if the robot is becoming limited by acceleration or if it is the settings.

The question is what is your programmed velocity settings in the MoveL?  VelSet is just an override for the basic speed settings.

 

If you look at the motion and it looks like:  fast linea motion -- slow reorientation -- fast linear motion, then the problem is not in the settings, but in the simple fact that it takes time to accelerate and re-orient the wrist axes.   If you can start the re-orientation earlier, or adjust the AccSet, you may be able to get it to move through the zone faster.

 

If the linear motion is by itself slow, then it is a speed setting,   try using vmax on the motions.

 

  Steve