Max speed axis 6 in manual mode

Robot Controller
1

Hello all,

I am working on a irb4600, and I have a workpiece that i have to move by rotation at 200mm/s over an external tool that has to rotate at exact same speed as workpiece.
The movement the robot has to do is only move axis 6 for this
Imagine 2 wheels rotating with edges against each other, where 1 wheel is my workpiece rotated by robot and the other wheel is my fixed external tool with his own motor.
The speed of both wheels speed must turn synchronized.

In auto mode, The robot moves ok at speed 200mm/s
In manual mode, TCP moves only moves at about 80mm/s.

Robot max speed in manual mode is normally 250mm/s, but i guess is that the speed of axis 6 is also limited in manual mode, so that the robot cannot achieve tcp speed of 200mm/s, because the used tcp_tool only has small values of X and Y.
(if you put tool0, the tcp speed reports 0mm/s speed as the tcp do not move, only rotate, what is normal behavior)

Now i use the system output tcp_speed to send speed to external machine. Problem is external machine only works well when speed is at least 200mm/s.
operators need to execute the cycle in manual mode at speed 200mm/s to finetune visually the process.

1.Who can tell me the maximum speed of axis 6 in manual mode

2.Is there some system parameter to change this maximum speed?

  1. Is there a way to read during execution the rotating speed of axis 6 from robot?

BR

Peter

2
  1. You can use 100% manual speed, by turning key to 100% manual and hold start button down, this way robot can move at full speed in manual mode.
3

i already implemented that, the robot didnt has this position with the key,but i rewired the switch behind to make it work with a supplementary key.

I limited the speed however with the system input speed limit and then used the speedlimaxis command.

I increased the axis speeds just enough to make the process work and in other parts of the program i put the speedlimaxis back to default values.

because moving a robot at 100% full speed with operator in zone is too dangerous when robot is doing other movements after this particular process, for example during pick or place.

it is not 100% safety proof, but i guess it is the only thing to make it work.