06-27-2019, 02:04 PM
Hi JCC,
It's a good question, but kind of a trick question.
RoboDK don't really need to know the speed limits of each joint, this is mostly the job of the robot controller.
特别是加工projects.
Machining projects are composed of a high amount of MoveL packed together. Therefore the linear speed is more important than the angular speed.
Once the robot controller receive a TCP speed, let's say 1000 mm/s, it will TRY to reach that speed. I say TRY because it can possibly be limited by external factors like "acceleration and deceleration ramps" or by the speed limit of a joint. In other words, the controller will try to bring the TCP to a speed as close as 1000 mm/s, but won't go faster than that.
By the way, it's the exact same behavior as what you would get if you were to program your ABB robot manually.
Have a great day.
Jeremy
It's a good question, but kind of a trick question.
RoboDK don't really need to know the speed limits of each joint, this is mostly the job of the robot controller.
特别是加工projects.
Machining projects are composed of a high amount of MoveL packed together. Therefore the linear speed is more important than the angular speed.
Once the robot controller receive a TCP speed, let's say 1000 mm/s, it will TRY to reach that speed. I say TRY because it can possibly be limited by external factors like "acceleration and deceleration ramps" or by the speed limit of a joint. In other words, the controller will try to bring the TCP to a speed as close as 1000 mm/s, but won't go faster than that.
By the way, it's the exact same behavior as what you would get if you were to program your ABB robot manually.
Have a great day.
Jeremy