Velset in background task

Nexpert_Alex

Hello,

I'm trying to make a background task which modifies the max speed using Velset by a variable sent via devicenet from a PLC.

I'm really trying everything i can but i can't find the way to do that.

Can anyone help, please?

Nexpert_Alex

This is the error I get. I guess I should configure the background task to control mechanical units, but I don't know how

xerim

Try setting it up like this, using SpeedRefresh

Nexpert_Alex

But where should i place that code? In a Motion task? In a semistatic task? How do I execute that Trap function?

xerim

Study the Technical Reference Manual - Rapid Instructions, Functions and Data

Here is the page for SpeedRefresh



As you can see, it states "This Instruction can only be used in the main task T_ROB1 or, if in a MultiMove system, in any Motion tasks." 

Nexpert_Alex

Thanks, I'll work on it. By the way, the robotware I'm using is older than this one, I'm using 5.07 since I need it to program an old robot

Nexpert_Alex

Looks like using this way I can't make it work like I would like to. I would like to set a % speed at anytime from PLC whenever I want, whatever the program is.
I've seen the console has an option to set a % speed. Is there anyway to write into that address via devicenet? (I have a PLC connected to the controller by devicenet).

Also a good alternative would be to activate or deactivate the variable SpeedLimit, which I already have it linked to a PLC variable. But I'd rather modify speed with different valors, not only one (like SpeedLimit).

xerim

LimitSpeed was introduced in RobotWare 5.15, so it wouldn't work if you have 5.07

lemster68

Update the robotware.

Nexpert_Alex

Yes, I guess updating the real robot RW would be the best. Is there any limit or problem for updating it?
The robot is an IRB660 and controller is IRC5 M2004.
Also I should mention every test i did on robotstudio was using robotware 5.16

lemster68

Since you are using 5.07 I would guess that the main CPU is the older type.  It will not take the newest RW, but you ought to be able to go to 5.16.