Finding out the actual speed of ABB robot

yashmexx

<span style="font-family: Tahoma; color: black; font-size: small;"><span style="font-size:10pt;" dir="ltr"><span style="font-family: Times New Roman; font-size: small;"><span style="font-size:16px;"><span style="font-family: Courier New; font-size: small;">My name is Yash, PhD researcher in welding engineering centre, cranfield University.</span></span></span></span></span><span style="font-family: Tahoma; color: black; font-size: small;"><span style="font-size:10pt;" dir="ltr"><span style="font-family: Times New Roman; font-size: small;"><span style="font-size:16px;"><span style="font-family: Courier New; font-size: small;"> </span></span></span></span></span><span style="font-family: Tahoma; color: black; font-size: small;"><span style="font-size:10pt;" dir="ltr"><span style="font-family: Times New Roman; font-size: small;"><span style="font-size:16px;"><span style="font-family: Courier New; font-size: small;"><span style="font-family: Tahoma; color: black; font-size: small;"><span style="font-size:10pt;" dir="ltr"><span style="font-family: Times New Roman; font-size: small;"><span style="font-size:16px;"><span style="font-family: Courier New; font-size: small;">The ABB S4C robot we are using is: IRB2400/10.</span><span style="font-family: Courier New; font-size: small;"><br>

</span></span></span></span></span>I
am investigating different patterns related to the weld deposition.
So, many
of the patterns have rounded corners and sharp corners as well (for
example robot moves in a sinusoidal wave pattern). I fear that the robot
changes it speed at these positions because of acceleration and
deceleration. As a result, there is an extra deposition of metal at the
ends and I dont see a flat profile welds. I would like to
find out the information relating to the travel
speed of the robot during the movement and during the corners as well.
Basically, I would like to know how the speed changes during the course. Can
you please let me know how do I approach in finding out the speed of the
robot ?</span><span style="font-family: Courier New; font-size: small;"> Also, any other methods you think so as to find the speed of the robot. Thanks in advance.</span></span></span></span></span>

Anders S

Hi,<div>You can use the System Output signal "TCP Speed".</div><div><br></div><div>See the printout from the System parameters manual.</div><div><br></div><div>Best regards,</div><div>Anders</div><img src="https://us.v-cdn.net/5020483/uploads/FileUpload/aa/76d33c4a1fb4a9bfb0e66d9f9299dd.png"&gt;

yashmexx

Hi Ander,<br>Thank you very much for your reply. With regard to your reply, I think that the speed which would be shown will be the calculated one from robot, which would be almost the speed which is set in the program. Am I correct ?<br>Do you think is there any other alternative method, where we could connect to some device and find out the actual speed ? I am trying to place a card recorder and move with a velocity equal to robot. If there iis any difference in velocities in robot and chart recorder then we should see a different pattern. <br>

yashmexx

Hi Ander, I tried to look into I/O signals within the pendant and also different output signal parameters, but I could not find Status parameter. Could you please tell me where to look under to find the parameters you mentioned in your last reply ?Thanks in advance<br>

graafderk

Under Configuration > I/O<div>Click "System Output". Right click in the list of signals and click "New System Output..."<div>You should see the attached screen.</div><img src="https://us.v-cdn.net/5020483/uploads/FileUpload/bd/676731c50f2c2a88ded575c49f246f.png"></div&gt;