Log/view robot speed

Tobias

Dear Community,

 

how can I log or view the velocity of the robot (tcp-speed, angular tcp-verlocity,...). I donA't want to know the speed according to the rapid-code. I need the real speed of the robot. According to the MoveL instruction, the path is performed at lower speed, if the robot is unable to maintain the programed speed. I need information about the deviation between programed speed and actual speed of the robot. Alternatively, and instroction for precise speed request would be also very helpful.

I already found some hints in the forum:

- TestViewer software (but that is only for external axis, right?)

TPWrite "tcpspeed:"
um:=aoutput(aoTcpSpd);  (I couldnA't find this signal anywhere, yet)

Regards

 

Tobias

Steve_Murphy

Hello,

 

There are a couple of ways.

 

If you can run your program in a RobotStudio simulation (on a virtual controller) then use the Signal Analyser tool to get the output of the TCP speed.

 

If running on the real controller, then you can setup an analogue output and use the System Output ability (Under System Parameters, Configuration I/O,  System Output) to output the TCPSpeed as an analogue signal.

 

The ability to use the RobotStudio Signal Analyser towards a real robot controller is hopefully in the pipe for coming versions of RobotWare.

 

Angular velocity (degrees-per-second of quaternion re-orientation) is much harder and I don't know of any signals that will return that.

 

Kind Regards,

 

   Steve

 

Tobias

Hello Steve,

 

thank you very much!

 

Regards

 

Tobias