Settings for max velocity and acceleration not effected at real FANUC robot
I am using the the python commands set_max_acceleration_scaling_factor(x)
and set_max_velocity_scaling_factor(y)
of the MoveGroupCommander class to control the speed behaviour of a FANUC robot, based on the industrial package.
This works finse in a simulation only environment in RViz accordingly to the joint limits defined in the file joint_limits.yaml
. But if I connect ROS to the controller of the real robot, the robot is much more slowly. The robot does not seem to follow the max factors. Are there additional limits defined in the FANUC industrial package?
Thanks in advance!
nico