How do I adjust velocity with program data during program execution?

RobotStudio
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1

How I tried to accomplish this:

PERS num vSpraySpeed:=500;
PERS speeddata vSpray_Fast:=[vSpraySpeed,500,5000,1000];

MoveL Spray_pos10, vSpray_Fast, fine, t_spray;

But, this doesn’t work.
Is there another way to accomplish this?

2

MODULE aModule(SYSMODULE)

PERS speeddata vSpray_Fast;
PERS num vSpraySpeed:=500;

PROC aProcedure()

vSpray_Fast:=[vSpraySpeed,500,5000,1000];
MoveL Spray_pos10, vSpray_Fast, fine, t_spray;

ENDPROC

ENDMODULE

3

It works perfectly! Thank you so much!

4

In case you would like to reduce speed globally (via percentage override) you can use “SpeedRefresh” instruction… Like this:

*VAR intnum time_int;*
`

VAR num override;

…

PROC main()

CONNECT time_int WITH speed_refresh;

ITimer 0.1, time_int;

ISleep time_int;

…

MoveL p1, v100, fine, tool2;

! Read current speed override set from FlexPendant

override := CSpeedOverride (\CTask);

IWatch time_int;

MoveL p2, v100, fine, tool2;

IDelete time_int;

! Reset to FlexPendant old speed override

WaitTime 0.5;

SpeedRefresh override;

…

TRAP speed_refresh

VAR speed_corr;

! Analog input signal value from sensor, value 0 … 10

speed_corr := (ai_sensor * 10);

SpeedRefresh speed_corr;

ERROR

IF ERRNO = ERR_SPEED_REFRESH_LIM THEN

IF speed_corr > 100 speed_corr := 100;

IF speed_corr < 0 speed_corr := 0;

RETRY;

ENDIF

ENDTRAP

`

For speed reducing to the exact value there is probably the best way using LimitSpeed SYS_DI and TRAP routine with SpeedLimCheckPoint instruction. Like this:

VAR num limit_speed:=200;

SpeedLimCheckPoint limit_speed;

This will limit the speed to 200 mm/s for the TCP robot when system input LimitSpeed is set to 1.

BR

5

In case you would like to reduce speed globally (via percentage override) you can use “SpeedRefresh” instruction… Like this:

*VAR intnum time_int;*
`

VAR num override;

…

PROC main()

CONNECT time_int WITH speed_refresh;

ITimer 0.1, time_int;

ISleep time_int;

…

MoveL p1, v100, fine, tool2;

! Read current speed override set from FlexPendant

override := CSpeedOverride (\CTask);

IWatch time_int;

MoveL p2, v100, fine, tool2;

IDelete time_int;

! Reset to FlexPendant old speed override

WaitTime 0.5;

SpeedRefresh override;

…

TRAP speed_refresh

VAR speed_corr;

! Analog input signal value from sensor, value 0 … 10

speed_corr := (ai_sensor * 10);

SpeedRefresh speed_corr;

ERROR

IF ERRNO = ERR_SPEED_REFRESH_LIM THEN

IF speed_corr > 100 speed_corr := 100;

IF speed_corr < 0 speed_corr := 0;

RETRY;

ENDIF

ENDTRAP

`

For speed reducing to the exact value there is probably the best way using LimitSpeed SYS_DI and TRAP routine with SpeedLimCheckPoint instruction. Like this:

VAR num limit_speed:=200;

SpeedLimCheckPoint limit_speed;

This will limit the speed to 200 mm/s for the TCP robot when system input LimitSpeed is set to 1.

BR