[JCC]

Hi,

I am new to RoboDK, and am wondering whether RoboDK stores information about robot joint speed limits in its robot models, and whether it knows not to exceed them when planning robot motions.

For instance, I'm looking at milling a piece using the ABB IRB 6700, which lists maximum axis speed for axes 1-6 in deg/sec as [100, 90, 90, 170, 120, 190]. I'm using the robot machining functionality, which sets speed to say 1000 mm/s for a certain operation. I take it this is speed of the TCP. Does RoboDK calculate the resulting speeds at each axis and check that those are within limits?

Thanks!