Robot speed Decrease

TSd63
✭
Hi,
How can i do to Decrease the robotspeed to less than 0,15mm/sek?
I need the robot to move a plasmawelding gun at 0,10-0,20 mm/sek.
Regards
TSD63
TSd632012-03-19 08:40:21
0
Comments
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Hi,The basic principle is to declare a speeddata and then use it, like this:Declare it in the module[code]MODULE Module1VAR speeddata vmin := [ 0.1, 0.1, 0, 0 ];[/code]That is 0.1 mm/s.Use it in the instruction[code]PROC Path_10()MoveL Target_20,vmin,fine,tool0WObj:=wobj0;[/code]Beware of the rotational value (second value) since I've seen experts making that rookie mistake. As in declaring a low speed but a relatively high rotational speed value, then when doing a joint/circular move you get a bad result.Check out the RAPID reference manual for details, it gives a warning for instance regarding slow movements:[quote]Limitations
At very slow motion each movement should be short enough to give an interpolation time less than 240 seconds.[/quote]John
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