The robot slows down significantly when passing help points. All my help points are set as blended joints, blending 50 mm post blending 50 mm (see screen). I tried changing the settings to PTP blended, but the result was the same. I discuss this with Stäubli. I sent them video trajectories, record and screenshots of setings of the points. It got through to the uniVal developers and they wondered if the correct function blocks,MC_MoveAxisAbsolute, Direct and Linear were being used and on follow up if they were waiting for the MC_GroupContinue statuses which should be the correct function block to use.
Thank you in advance for reply.
Thanks for the logfile .
Would it be possible, that you correct the point-comments,
if you calculate or manipulate points based on other points ?
Unfortunately its not clear to see, what is a help-position and what is a nest-position.
For example: if you use the "WP135_NEST " point to calculate a offset position,
than change the comment of this calculated point to "WP135_NEST_OFFSET" ,
so it is more clear for us to understand what is the sequence.
It would be great if you could give us a specific teaching point where this problem occurs?
and then it would be interesting to know which robot-type it is.