[IvanTebar]

Hello everyone, I have a station with which I intend to solder, with 2 additional external axes to my Mitsubishi robot. One axis is linear and the other is rotary.
The rotating axis is responsible for carrying the piece.
When I create a program by following curves, I cannot get the rotor speed to be constant when the robot changes its position, which causes welds of different sizes.

 How could I make the progress constant?

Add link of video : https://drive.google.com/file/d/1B8hFRS0...drive_link

[Albert]

Did you specify a linear speed? Can you share your RDK project?

[IvanTebar]

I specified linear speed and have modified different parameters without obtaining the desired result.

The problem is that the progress along the path is not constant when axes have to be interpolated.

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When there is only one axis that moves during the trajectory, it does maintain a constant speed

https://drive.google.com/file/d/1UKdVbWm...drive_link

In this other trajectory we see how an inclination in the torch reduces the speed drastically.

https://drive.google.com/file/d/1CxOXJBb...sp=sharing

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These changes in speed lead to sudden changes in the thickness of the weld. (image)

Through this link I have brought the first of the videos to reality clearly seeing the speed reduction.

 https://drive.google.com/file/d/1uQLB-3S...sp=sharing

[Sergei]

Does this optimization setting work for you?

   

If you can share your station we can help better.