01-27-2021, 03:50 PM
Hi Robo,
Spline: You are right, the spline will only show on the real robot, the simulation will show normal linear motion.
奇点:你是hitting a wrist singularity right now (J5 reached 0 deg +/- 2.5), you can reduce the tolerance in the "Tools"->"Options"->"Motion" as you stated.
I don't know how familiar you are with singularities, but if you are too close to one, there are good chances that your TCP velocity will go drastically down in that area, which defeats the purpose of the spline motion.
Jeremy
Spline: You are right, the spline will only show on the real robot, the simulation will show normal linear motion.
奇点:你是hitting a wrist singularity right now (J5 reached 0 deg +/- 2.5), you can reduce the tolerance in the "Tools"->"Options"->"Motion" as you stated.
I don't know how familiar you are with singularities, but if you are too close to one, there are good chances that your TCP velocity will go drastically down in that area, which defeats the purpose of the spline motion.
Jeremy
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