# How Can I read robot TCP speed?

**URL:** <https://tech-community.robotics.abb.com/t/how-can-i-read-robot-tcp-speed/5769>\
**Category:** RobotStudio\
**Created:** [October 15, 2013, 8:17am UTC](https://tech-community.robotics.abb.com/t/how-can-i-read-robot-tcp-speed/5769 "2013-10-15T08:17:48Z")\
**Posts on this page:** 5\
**Page:** 1

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**Author:** ![Ercan](https://dub1.discourse-cdn.com/flex005/user_avatar/tech-community.robotics.abb.com/ercan/32/1220_2.png) [@Ercan](https://tech-community.robotics.abb.com/u/Ercan)\
**Post date:** [October 15, 2013, 8:17am UTC](https://tech-community.robotics.abb.com/t/how-can-i-read-robot-tcp-speed/5769/1 "2013-10-15T08:17:48Z")

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Hi Everybody

I have a big question for you maybe answer can be easy for you 🙂 I want to use robot tcp speed. For exaple I made a speed data as V125. And V125 TCP speed is 125. Then I want to see this value on my touch screen panel by profibus connection. I have a profibus unit on my units.

I tried to make virtual unit then  
create analog output as deneme then  
create system output as TCP speed on deneme  
then tried to write this value to a group output but ı coundt

Please can you help me about this subject. I hope you can find a soulitoun for me :))  
Thanks All

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**Author:** ![Marcel](https://avatars.discourse-cdn.com/v4/letter/m/71e660/32.png) [@Marcel](https://tech-community.robotics.abb.com/u/Marcel)\
**Post date:** [October 17, 2013, 7:44am UTC](https://tech-community.robotics.abb.com/t/how-can-i-read-robot-tcp-speed/5769/2 "2013-10-17T07:44:19Z")

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Hi

You could try it with the following EIO.CFG

Best regards

Marcel

EIO:CFG\_1.0:5:0::

# 

EIO\_BUS:

-Name “Virtual1” -ConnectorID “SIM1”

-Name “Profibus\_FA1” -BusType “PBUS” -ConnectorID “FA1”  
-ConnectorLabel “Profibus-DP Fieldbus Adapter”

# 

EIO\_UNIT\_TYPE:

-Name “Virtual” -VendorName “ABB” -ProductName “Virtual unit”

-Name “DP\_SLAVE\_FA” -BusType “PBUS” -VendorName “ABB Robotics”  
-ProductName “Profibus-DP Fieldbus Adapter Slave” -InternalSlave   
-PB\_ProductId 6161 -PB\_InputSize 50 -PB\_OutputSize 50

# 

EIO\_UNIT:

-Name “ProfiBus” -UnitType “DP\_SLAVE\_FA” -Bus “Profibus\_FA1”  
-PB\_Address 10

-Name “UnitSim” -UnitType “Virtual” -Bus “Virtual1” -TrustLevel 0

# 

EIO\_SIGNAL:

-Name “aoSurfSpeedTCP” -SignalType “AO” -Unit “ProfiBus”  
-SignalLabel “Surface Speed Robot in mm/min” -UnitMap “192-207”  
-Access “All” -MaxLog 0.54612 -MaxPhys 0.54612 -MaxBitVal 32767

# 

EIO\_ACCESS:

-Name “ALL” -Rapid -LocalManual -LocalAuto -RemoteManual -RemoteAuto

# 

SYSSIG\_OUT:

-Status “TCPSpeed” -Signal “aoSurfSpeedTCP” -Arg1 “ROB\_1”

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<div class="post-metadata">

**Author:** ![Ercan](https://dub1.discourse-cdn.com/flex005/user_avatar/tech-community.robotics.abb.com/ercan/32/1220_2.png) [@Ercan](https://tech-community.robotics.abb.com/u/Ercan)\
**Post date:** [October 23, 2013, 1:57pm UTC](https://tech-community.robotics.abb.com/t/how-can-i-read-robot-tcp-speed/5769/3 "2013-10-23T13:57:58Z")

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Thanks Marcel ı will try that. Can I read current tcp speed?

thanks again

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**Author:** ![DavidLanham](https://dub1.discourse-cdn.com/flex005/user_avatar/tech-community.robotics.abb.com/davidlanham/32/219_2.png) [@DavidLanham](https://tech-community.robotics.abb.com/u/DavidLanham)\
**Post date:** [November 8, 2013, 2:26pm UTC](https://tech-community.robotics.abb.com/t/how-can-i-read-robot-tcp-speed/5769/4 "2013-11-08T14:26:44Z")

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With that configuration it will be sending the TCP speed out all the time because it’s defined using a System Output which is always updating even if your robot program is stopped!

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**Author:** ![HossamElaarag](https://avatars.discourse-cdn.com/v4/letter/h/858c86/32.png) [@HossamElaarag](https://tech-community.robotics.abb.com/u/HossamElaarag)\
**Post date:** [June 9, 2020, 8:08am UTC](https://tech-community.robotics.abb.com/t/how-can-i-read-robot-tcp-speed/5769/5 "2020-06-09T08:08:49Z")

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> [@Ercan](#):
>
> Thanks Marcel ı will try that. Can I read current tcp speed?
> 
> thanks again

Hello Ercan, Have you tried that ?