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ros-industrial / abb_libegm

A C++ library for interfacing with ABB robot controllers supporting Externally Guided Motion (689-1)
BSD 3-Clause "New" or "Revised" License
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Regulate robot speed - Robot too slow during the executions with EGM #134

Closed kappa95 closed 2 years ago

kappa95 commented 2 years ago

Hello community,

I started to use the the libraries with ROS Melodic and with another Windows PC with Robotstudio with the virtual controller set up with the Add-in StateMachine 1.0 (Robotware version 6.08.00). I am able to execute the examples of the repository abb_robot_bringup_examples. The issue is that the robot is moving very slow, it takes "hours" to reach positions. I have tried also the examples found in this issue: create code samples and executing the example a1 of the joint trajectory position in the following way: Firstly execute from main the StateMachine programs on the robot controller Terminal 1: roscore Terminal 2: rosrun libegm_samples a1_joint_trajectory_node Terminal 3: rosservice call /rws/sm_addin/start_egm_joint "{}"

gavanderhoorn commented 2 years ago

Have you changed the value of ``? By default it's set to a very low value.

This is also mentioned in the EGM manual, and in abb_egm_hardware_interface/README.md, the Motion (robot side settings) row.