ABB root jogging speed (through HMI)

SelenErsoy

Dear ABB family,

For my graduation project, i have to jog ABB-robot (IRB660) via the HMI. I also have to adjust the speed manually. Directions x y z is working well. 
I use the speed.tcp to adjust movement speed. 

Now i have to jog axis 4, the rotation. 
How can i adjust de rotation speed? Which movement command i should use MoveJ of MoveL?


I hope that my question is clear for you. I can send my code if it is needed.
Thank you in advance!

Selen Ersoy

graemepaulin

Try the RelTool function within a MoveJ  command.
You can make the Robtarget the same as where the robot is currently , then use the rotation round the appropriate tool axis via the Reltool.

SelenErsoy

@graemepaulin Thank you alot. I think this is exacly what i was looking for. With Reltool, i dont have to calculate quaternion to euler and back. just give the offset in degrees.

Thank You!!

Micky

The speed of the reorientation is set via the component "v_ori" in the data type "speeddata" independent of the used movement command.

Quote from the manual of the chapter "speeddata":

v_ori (velocity orientation)                 Data type: num

The reorientation velocity of the TCP expressed in degrees/s.

If a stationary tool or coordinated external axes are used, the velocity is specified relative to the work object.