Dispense & vmax

phateee

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, because I need to use the prediction time fort setting valve.  I add MoveL to same point: pPin_v2_03_10, as there is in DispL\ON. Then logical flow1 is calculated from v400. The second solving are the aproaching about 10 -15mm before every robtarget in DispL\ON .

Thank you, Premek

Christian_Goy

Some remarks:

What ref_speed do you define in your equipdata? If you increase youre TCP speed ,you need to adopt this too...

Do you really need to go from v400 to vmax? In most cases this is not really usable for dispensing equipment as the robot will try to reach 5000 mm/s and therefor accelerate and decelerate a lot...

You should not use the same target for your MoveL follewed by DispL\On as the motion planner creates a stop point out of this, because the zone between two targets is max half of the distance between the two robtargets, and that means 0 if the robtargets are the same...