# Filming application using IRB4600 - Regarding tool movement.

**URL:** <https://tech-community.robotics.abb.com/t/filming-application-using-irb4600-regarding-tool-movement/9861>\
**Category:** RAPID Programming\
**Tags:** external-axis, motion\
**Created:** [December 11, 2020, 10:26am UTC](https://tech-community.robotics.abb.com/t/filming-application-using-irb4600-regarding-tool-movement/9861 "2020-12-11T10:26:46Z")\
**Posts on this page:** 3\
**Page:** 1

<div class="post-metadata">

**Author:** ![LumiGrade](https://dub1.discourse-cdn.com/flex005/user_avatar/tech-community.robotics.abb.com/lumigrade/32/4365_2.png) [@LumiGrade](https://tech-community.robotics.abb.com/u/LumiGrade)\
**Post date:** [December 11, 2020, 10:26am UTC](https://tech-community.robotics.abb.com/t/filming-application-using-irb4600-regarding-tool-movement/9861/1 "2020-12-11T10:26:46Z")

</div>

Hi there,

I’ve been using my IRB4600 for filming purpose, for almost 2 years now. I’ve been looking for / trying commands using FlexPendant, to move my tool in automatic mode (which is a 15kg camera with lens) in the way that it starts softly at first, reach 100% speed then slow down softly. I’ve tried Accset with different settings, combining Z50 to Z200, but the result varies from time to time.  
I have an external motor attached to my robot (MU80 motor) and sometimes the robot needs to wait for that motor to complete the rotation, robot stops then move. I don’t know how to overcome this part, so I decided to reduce the rotation angle of that motor and my whole robot gets through that stop-point, which is good in terms of movement but the focusing on my camera lens would be wrong.

I would really appreciate if anybody face the same situation and if you have any hints / commands / adjustments, that would save my life.

So, 1. Soft move/start/stop. 2. External axis motion.

Thanks,

---

<div class="post-metadata">

**Author:** ![j\_proulxFB](https://avatars.discourse-cdn.com/v4/letter/j/f04885/32.png) [@j\_proulxFB](https://tech-community.robotics.abb.com/u/j_proulxFB)\
**Post date:** [December 18, 2020, 2:59pm UTC](https://tech-community.robotics.abb.com/t/filming-application-using-irb4600-regarding-tool-movement/9861/2 "2020-12-18T14:59:20Z")

</div>

Try contacting Andy Robot. Maybe he has a suggestion.

> **[andyrobot](https://www.andyrobot.com/)**
>
> Homepage for andyRobot.com

---

<div class="post-metadata">

**Author:** ![xerim](https://avatars.discourse-cdn.com/v4/letter/x/2bfe46/32.png) [@xerim](https://tech-community.robotics.abb.com/u/xerim)\
**Post date:** [December 18, 2020, 3:00pm UTC](https://tech-community.robotics.abb.com/t/filming-application-using-irb4600-regarding-tool-movement/9861/3 "2020-12-18T15:00:53Z")

</div>

Check out **speeddata** in the Technical Reference Manual