# Finding out the actual speed of ABB robot **URL:** \ **Category:** RobotStudio\ **Created:** [February 9, 2015, 10:27am UTC](https://tech-community.robotics.abb.com/t/finding-out-the-actual-speed-of-abb-robot/6483 "2015-02-09T10:27:38Z")\ **Posts on this page:** 5\ **Page:** 1
**Author:** ![yashmexx](https://dub1.discourse-cdn.com/flex005/user_avatar/tech-community.robotics.abb.com/yashmexx/32/4349_2.png) [@yashmexx](https://tech-community.robotics.abb.com/u/yashmexx)\ **Post date:** [February 9, 2015, 10:27am UTC](https://tech-community.robotics.abb.com/t/finding-out-the-actual-speed-of-abb-robot/6483/1 "2015-02-09T10:27:38Z")
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. ---
**Author:** ![Anders\_S](https://avatars.discourse-cdn.com/v4/letter/a/ce7236/32.png) [@Anders\_S](https://tech-community.robotics.abb.com/u/Anders_S)\ **Post date:** [February 11, 2015, 1:31pm UTC](https://tech-community.robotics.abb.com/t/finding-out-the-actual-speed-of-abb-robot/6483/2 "2015-02-11T13:31:57Z")
Hi, You can use the System Output signal “TCP Speed”. See the printout from the System parameters manual. Best regards, Anders ![image.png](https://europe1.discourse-cdn.com/flex005/uploads/robotics1/original/2X/0/0e0b1dceae2c36317f23e13077c17a30bb220ffd.png) ![image.png](https://europe1.discourse-cdn.com/flex005/uploads/robotics1/original/2X/0/0e0b1dceae2c36317f23e13077c17a30bb220ffd.png) ---
**Author:** ![yashmexx](https://dub1.discourse-cdn.com/flex005/user_avatar/tech-community.robotics.abb.com/yashmexx/32/4349_2.png) [@yashmexx](https://tech-community.robotics.abb.com/u/yashmexx)\ **Post date:** [February 11, 2015, 4:38pm UTC](https://tech-community.robotics.abb.com/t/finding-out-the-actual-speed-of-abb-robot/6483/3 "2015-02-11T16:38:10Z")
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. ---
**Author:** ![yashmexx](https://dub1.discourse-cdn.com/flex005/user_avatar/tech-community.robotics.abb.com/yashmexx/32/4349_2.png) [@yashmexx](https://tech-community.robotics.abb.com/u/yashmexx)\ **Post date:** [February 13, 2015, 3:25pm UTC](https://tech-community.robotics.abb.com/t/finding-out-the-actual-speed-of-abb-robot/6483/4 "2015-02-13T15:25:47Z")
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 ---
**Author:** ![graafderk](https://avatars.discourse-cdn.com/v4/letter/g/cab0a1/32.png) [@graafderk](https://tech-community.robotics.abb.com/u/graafderk)\ **Post date:** [February 16, 2015, 8:59am UTC](https://tech-community.robotics.abb.com/t/finding-out-the-actual-speed-of-abb-robot/6483/5 "2015-02-16T08:59:18Z")
Under Configuration \> I/O Click “System Output”. Right click in the list of signals and click “New System Output…” You should see the attached screen. ![image.png](https://europe1.discourse-cdn.com/flex005/uploads/robotics1/original/2X/c/c0c51a2a98a6dffd21844fa72ab1611b42d4e7b2.png) ![image.png](https://europe1.discourse-cdn.com/flex005/uploads/robotics1/original/2X/c/c0c51a2a98a6dffd21844fa72ab1611b42d4e7b2.png)