Questions about send_to_robot_cart

[myc-mec]

Hello, I am very grateful to you for providing this Python Library, it solves a lot of my problems.
I am currently encountering an issue while using the send_to_robot_cart function. I assumed that speed_ref represents Cartesian velocity, so I set it as speed_ref=np.array([0, 0, 50]). However, the robotic arm’s movement speed does not change as expected.The virtual robotic arm is IRB 2600 setup in RobotStudio 6.08.01.

Rapid codes follow:

Part of Python code follow:
`controller.start_linear_Z_motion(
distance=-25,
speed=50
)

        print("执行Z轴正向线性运动...")
        while controller.is_running:
            success, state = egm.receive_from_robot()
            if not success:
                print("接收数据失败，继续尝试")
                continue
            
            current_pos = controller.update_current_position()
            speed_z_up=np.array([0,0,50])
            egm.send_to_robot_cart(current_pos, controller.orient,speed_ref=speed_z_up)
            time.sleep(0.01)`

The speed of robotic arm only depends on the MaxSpeedDeviation which is one argument of EGMActPose.
Your guidance on this matter would be appreciated at your earliest convenience.

[FLo-ABB]

Hi! Thanks for bringing this up.
I’ve looked into it and created an example: example_speed_guidance.py.
I believe the issue comes from your speed being too high relative to MaxSpeedDeviation, which defines the threshold. A value like 50 deg/s may be too high.
Can you look over the example and the updated code, it may unblock you.