RobotStudio event

Speed Robot

Enry
Enry ✭
in Robot Controller
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

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  • Marcel
    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
    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.

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