Speed Robot

Enry

Good morning to everybody, 
does someone know how to tell me which parameter it returns me, in real time, the speed done plan on the flexpendant? 
Thanks

Marcel

Hi

You can define a system output for the TCP speed

EIO.cfg

SYSSIG_OUT:

  -Status "TCPSpeed" -Signal "aoTcpSpeed" -Arg1 "ROB_1"

 

For output on the flexpendant you could use a time triggered interrupt and give out the value with:

TPErase;

TPWrite "TCP-speed: "+NumToStr(AOutput(aoTcpSpeed)*1000,0)+" mm/s";

 

I hope it works then I didn't test it.

 

Best regards

Marcel

Enry

Thanks thousand, 
but in reality what I would like to do is to modify the speed of the in operation Tcp of the speed planned on the Flexpendant, this to have a speed +o - constant of some movements of mine even if they vary the speed from Flexpendant. 
For example planning the speed vProva.v_tcp:=1000, I would like that the time employed by the robot by the punto1 to the punto2 both around the same one, both to 25%, and to 100%. 
I have made different tests, but it seems that I/you/he/she always command and however the speed of the FlexPendant ( vProva.v_tcp:=1000 to 100% have tried with vProva.v_tcp:=5000 to 20%, but the second part is slow more and more). 
Reassuming, do you know how to tell me if a way exists for getting a constant speed varying the percentage from FlexPendant? 
In advance thanking all, I wish You Good Day.