[manan]

Hi,

I am trying to simulate sanding path with UR20 robot. The path motion is accurate, and I set speed and acceleration parameters similar to actual path. However, I am getting big differences between the cycle time. Simulation time is 33.1 seconds, and real time is 64 seconds. I do have some wait commands, but it is less than 3 seconds. This robot has some safety constraint which cannot be added in Robodk for example, elbow speed 350mm/s, tool speed 350mm/sec, but my speed is not even set to that high. Please see the attached Robodk study. I am not sure why there is a big discrepancy between two cycle time. 

Thank you.

Manan

[Albert]

A cycle time discrepancy between the simulation and the real robot usually means the real robot does not apply the correct speed limits or blending motion strategy.

Robot joint and linear speed limits. Verify the controller joint speed and linear speed limits. If the real controller enforces lower limits the robot will slow down. Also, make sure to enter reasonable values that can be reached by the robot. RoboDK is not aware of the real/physical speed limitations.

Path rounding/blending: when you apply blending, RoboDK assumes the robot can maintain a constant speed while moving through points. This allows the robot controller to smooth the edges to go through the desired points. Depending on the speed and the blend value, the robot may need to slow down. To improve this you can increase the blending value.