Can I force the speed limit to 25% when switching to manual

svoldgaard

I would lige to force the speed limit to 25%, when I switch, from auto to manual
Is that possible?

soup

A background task that looks for the manual state System Output and sets SpeedRefresh to 25? A trap routine that does the same?

soup

The pendant definitely trumps SpeedRefresh.

I previously mentioned a background task, but I think it'd probably need to be a Trap in the motion task.

Also, if you only care about programmed motion speed, an easier route might be to look for manual mode in a Start or Restart Event Routine and send a SpeedRefresh there.

svoldgaard

hmm could work. but the operator needs to be able to change the speed back to 100% in manual mode. And not sure if the robot has multitask (it is one of my clients robots).

soup

Are you hoping to slow programmed motion run in manual mode and/or manual jogging?

svoldgaard

Just the program, but I think, that it will be okay, if the jogging is also reduced. Ass long at it is possible to easily changes it back to 100%

svoldgaard

Thanks for the answer Soup.
Now my client tells me, that he wantes to reduce the jogging speed only. Any Idea for that?

soup

Less than the default 250mm/s? For a good reason?

svoldgaard

He said, that the operators, can not handle the speed. Apparently they are crashing the robot into what is around it. 

lemster68

The only way I know of doing that for both program execution and jogging would to write to the system parameter:

    WriteCfgData "/MOC/MOTION_PLANNER/motion_planner_1","teach_mode_max_speed",0.01;

Not quite 25%, but it is as low as it goes.  Not sure if it would require the warm start either.  The other tricky part is how and when to override that setting if, say for instance, it is the programmer, not operator jogging and running the program.

lemster68

Oops!  0.0625.  Is 25%

soup

@lemster68 - Agree, it's too bad it's not easy to switch that config setting on / off...

lemster68

I tested writing the config data today in RS, it required a restart to take effect.  I also noticed that one of your more recent posts you said jogging only.  Are you aware that you can tap on the quickset button, go to jogging from there, click on show details, and then you can reduce your jog speed.

svoldgaard

Yes, but the request from my costumer is, that the robot will do it, by default, when switching from auto to Manuel.

soup

@svoldgaard ...but the operator needs to be able to change the speed back to 100% in manual mode...

@svoldgaard ...Ass long at it is possible to easily changes it back to 100%...

1. knowing how to edit system config
   
2. editing the speed setting to 100%
   
3. restarting the system
   (jog at 100%)
   
4. remembering to set the speed back to 25%
5. editing the setting back to 25%
   
6. restarting the system
   is hardly easy enough for an operator that can't handle 250mm/sec jog speed?

Incremental Movement settings on the pendant may not be exactly what the customer is asking for, but it is designed to aid in more precise jogging...