How to create a path with a constant velocity ?

Florence

Hi !

I'm starting using Robotstudio and I want to create a path going through many points accurately, but I want the tool to keep a constant velocity.

How can we do that ?

If I use a move with a zone z0 or z1, the path will be precise but the tool will decelerate and accelerate when next to the points, am I rigth ?

Thanks !

Florence

Henrik Berlin

The IRC5 robot controller is designed to optimize on position accuracy. It will try to reach the programmed speed given that the robot can accurately follow the path. You will not be able to get both constant speed AND path accuracy in general. Whenever there is conflict, path accuracy comes first. And as you point out, the zonedata specifies the accuracy.

Let's play with a thought for a second and imagine the opposite, i.e. that the robot prioritizes constant speed to path accuracy. Then you will be able to know how fast the robot moves, but not have full control over its position. For most applications, this is not what you want.

However, using the Signal Analyzer in RobotStudio you can monitor the speed and the position. By increasing the zone data, you allow the robot to take shortcuts. As a consequence it will probably be able maintain a higher speed. To compensate for the shortcuts you may adjust the position of the robtargets until the robot moves according to the desired path. Note, that this is not the recommended way to program the robot controller and in a way this is mis-use of the robot controller. Again, the IRC5 controller is designed to maintain path accuracy.