My name is Yash, PhD researcher in welding engineering centre, cranfield University. The ABB S4C robot we are using is: IRB2400/10.
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 ? Also, any other methods you think so as to find the speed of the robot. Thanks in advance.
Hi,
You can use the System Output signal “TCP Speed”.
See the printout from the System parameters manual.
Best regards,
Anders
Hi Ander,
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 ?
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.
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
