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Joint Speed of FANUC

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Frankie Ellis

 

Hi, 

I am working on an application that a point cloud scanner is attached to the end of an old FANUC M16i with a RJ3 controller. For the generation of point cloud in a right way for the TCP speed and send it to the scanner so that it can space out the profiles properly, but other than grabbing the TCP position, I can't seem to find the speed anywhere.

Moreover, there is another way for monitoring the encoder values on the joints? If I have that, I can' do a quick forward displacement analysis to find the TCP position and velocity.

Thank you

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    Muhammad Ishaq
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    Hi Frankie,

    I would suggest you to investigate the $MOR_Structure variable for speed of TCP.

    DMR_GRP[i].SPC_COUNT - current encoder counts

    $PARAM_GROUP[i].$encscales[9] - pulses per degree or mm

    best of luck. try and then comment your findings.

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