Reading velocity or following error

jonri

I can read the current position using CPOS.  Is there a way to read the following error or velocity.  I want to make some corrections if the robot start to slow down.

SteveMob

Hello,

I am also looking for a method to read the current velocity of the robot, even while it's in the middle of a move. Does anyone know of a function that can read the robots velocity?

Thanks,
SM

PerSvensson

There is a system output which outputs the tcp speed of the robot that could be usefull

SteveMob

Per,

Thanks for the reply. But is there a way to like read the TCP velocity and send it via Sockets as a string? Like some function that could "get TCP speed"?

Thanks,
SM

carlosmtz2000

Hi,

Just building on Per's idea, you can create an virtual signal to "read/get" the value. Then you can use a background task to access the value of such virtual signal, manipulate and transfer the value (e.g sockets)

BR

SteveMob

Carlos,

So what type of background task could be used to read the value of the signal? Like a trap routine or something? I don't have multitasking..

Thanks,
SM

carlosmtz2000

Ideally, you should be running this on a background task (not the motion task). Then, the motion task will purely be dedicated for the robot logic and motion. You can also put his code in your regular motion task (e.g. trap routine), but it might have an impact depending how fast you are running this code, and if it is running all the time.

Do you have RobotStudio in order to create a virtual robot and test if you can achieve your needs before committing to add an option to the robot?