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+--- Thread: ISSUE with RoboDK joint and TCP monitorning via Python macro (/ 3ad-ISSUE-with-RoboDK-joint-and-TCP-monitorning-via-Python-macro)
ISSUE with RoboDK joint and TCP monitorning via Python macro-Marco Scutari-07-10-2022
Hi everyone.
I have created a simulation in which I am monitoring the position, speed and acceleration of the robot's TCP using the 'Monitor_TCP_Speed' script, but the results for speed are very 'dirty', full of spikes that should not be there and strong oscillations. I performed a simple linear movement and the velocity profile (trapezoidal) has considerable oscillations. Unfortunately, nothing changes even by varying various parameters in the settings. I would therefore like to ask you how I can get plots on standard (trapezoidal) velocity profiles accurate, thank you.
RE: ISSUE with RoboDK joint and TCP monitorning via Python macro-Albert-07-11-2022
I recommend you to use the scripts ProgramListCSV or JointSpeedsAccel instead.
You'll find more information about cycle time estimate and obtaining robot joint positions with a timestamp here:
//m.sinclairbody.com/forum/Thread-estimated-cycle-time-function-Update-function?pid=9567#pid9567