Limiting robot speed durring program start

bmrgud

Hello, I have one customer who would like to have speed limited to certain percentage during each start of robot program from any position (they are stopping and starting program using system inputs), and then to gradually increase to full speed. Is this doable, I have info that similar function exists on Fanuc. Thanks in advance, best regards.

Thomas J

Yes this is possible - use Event Routine connected to Start and Restart events to kill the Velocity and optionally the acceleration in the event routine using VELSET and ACCSET instructions.

 

In the main body of your program increment the velocity and acceleration until the maximum desired setting is reached.

 

See example in the Technical reference manual - System parameters

Hope this helps.... If you need a more explicit example, please feel free to PM me.

bmrgud

Hello Thomas, thanks for your answer. We will try to use interrupt in the case of program restart in order to run trap with VelSet instruction, I hope it will work. I'm not sure how to increment speed through main body of program in case that robot is stopped in one of the motion routines, and than restarted from the last reached point, that's why I'd like to try it with interrupt.

Henrik Berlin

Moved to RobotWare