Y axis speed low

RobotStudio
1

Hello ,
I got a problem run robot in auto mode, when I run my program in RS, the speed seems normal, but when I run programs in auto mode one of the orders runs weird: y axis runs very slow , I indeed set the velocity to v2000, but it runs not like 2000, more like a low speed , but in RS its a high speed , I don’t know if there some limits in FP or somewhere , somebody tells me that’s because axis1 can’t run in high speed ,I don’t if it’s true , but the problem is I can’t speed up in one y axis movement , that weired.
code as below:
MoveL pGlue25, v2000, z5, tGlueGun\WObj:=Obrenew;

This in RS is high speed but slow in real world, if there some limits please tell me
Thank you very much

2

Do you have a large reorientation? Any reorientation?

3

Thank you very much, but no, there’s no any reorientation, it’s a glue system, TCP stays the same orientation in the whole paths,
and I found that the other instructions stay low speed, but in RS robot can speed up to specific speed , I don’t know if I can trust RS simulation result or theres any difference between RS and real world

4

I think I figured out whats wrong with this , -Signal “vdiLimitSpeed” -Action “LimitSpeed” -Arg6 “ROB_1”
SpeedLimit actived, so robot stays very slow speed.