[sreese35]

Hi all, I've been trying to program a smooth, constant velocity curve follow project (robot holds object and follows path) and can't seem to get it to move smoothly and at a constant speed. I've played with blending, speeds and the joint curve tolerance, and nothing seems to work. Attached is my station file. In particular, the tight corners are "bumpy" with the TCP moving in and out from the curve it should be following. Also, there are a few points along the curve where the robot repositions itself, which is fine, but I can't seem to find a program event that would correspond to this. This is for a spray coating application, and I would need to turn the spray coater on and off when these reorientations are happening. Any suggestions? Thanks so much everyone!

[Albert]

When the robot arm is fully extended the controller may have more trouble moving through the points while keeping a constant speed. When the arm is fully extended it corresponds to a singularity. 

Do you see any speed/acceleration differences when the arm is more extended?

Another option could be to reduce the density of points by increasing this tolerance:

1. Select Tools-Options
   
2. Select the Program tab
   
3. Set the Minimum step size to 2 mm or more
   

However, I noticed that your points are reasonably spaced, having one point every 2 mm or so.

[sreese35]

Hi Albert, thanks so much for the fast reply! I've been playing around with your suggestions and have had some luck, but still working out a few bugs. I'll post my results in this thread when I have things as good as I can for others to see.

[Albert]

OK, thank you for keeping us posted!