speed data

amindari

  hi there 

how can i read the speed of the different axis of the robot during a movement ?

for example moving axis 1,30 degrees,with 1000 mm/s , i want to draw velocity / time curve during this movement  ,how can i reach the data for this? 

robots_at_apex

I would try to use MoveAbsJ 

used to create moves by axis angle

 

example from manual

MoveAbsJ *, v1000T:=5, fine, grip3;

The robot with the tool grip3, is moved along a non-linear path to a stop point which is
stored as an absolute axis position in the instruction (marked with an *). The entire movement
takes 5 seconds.