SCARA is moving too slow

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1

I was trying to Trace movement of SCARA, purely simulation, it was not on real system. I used CNC program for basic rectangle, that I am certain that works just fine and I did trace this:

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The speed really is not nearing my wanted 1m/s and the movement is not fully linear. I thought that the acceleration/deceleration was not fast enough. The axes are set in degrees with maximum speed of 1000units/s and acceleration/deceleration was both on 1000units/s^2. I increased the acceleration and deceleration to 10 000units/s^2, but the traced data is the same. Are there some limits inside the calculations itself that I am not awere of, or is there some other file where I can change the speeds beside this? Both axis Q1 and Q2 are set the same way, so it should not be because one axis is faster then the other.

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2

@jan.wolf what’s your feedrate setting?

The Feedrate is units/min so mm/min. For example: 150000 mm/min = 2500 mm/sec = 2.5 m/s

3

My feedrate is 60 000, so it should be 1000mm/s = 1m/s. Even in the uper graph I can see the Function block was getting request for 1000mm/s (the purple line -ProgrammedPathVelocity above the orange trace - CurrentPathVelocity)

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4

Also to add more info, I did try different feedrates as well, but anything above 0,5m/s will make the same trace. Thats why I asked if there are some other configuration files with limits in case they are trying to overwrite each other