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Dispense & vmax

phateee
phateee ✭
in RobotStudio

Hello,

can me somebody help with dispense?I have a problem with velocity, I need to reduce  the robot time so I need to use vmax in instruction DispL\On. But logical flow  (0 - 100%) is calculated from velocity - ref_speed: logical flow1 = (flow1 * dp_fl1_corr * fl1_corr/ 10000) * current speed/ref_speed.

When I use vmax, logical flow1 reaches over 100 and program gets into error. For example:


MoveL Target_1670,vmax,z10,tGun_corner\WObj:=wobjFixt1;
DispL\ON,pPin_v2_03_10,vmax,bead_Gun2_EQ2,z1,tGun_corner\WObj:=wobjFixt1_dyn;

 

So I thought about it, and my idea is :

MoveL Target_1670,vmax,z10,tGun_corner\WObj:=wobjFixt1;MoveL pPin_v2_03_10,vmax, z1,tGun_corner\WObj:=wobjFixt1_dyn;
DispL\ON,pPin_v2_03_10,v400,bead_Gun2_EQ2,z1,tGun_corner\WObj:=wobjFixt1_dyn;

But I dont know, if it is the right solution, because I need to use the prediction time fort setting valve (0.1s).  I add MoveL to same point: pPin_v2_03_10  as there is in DispL\ON. Then logical flow1 is calculated from v400. Then the program is without errors. The second solving is the aproaching about 10 -15mm before every robtarget in DispL\ON  instruction.

Thank you,

      Premek

 

 

 

 

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