Robot speed Decrease

Robot Controller
1

Hi,
How can i do to Decrease the robotspeed to less than 0,15mm/sek?

I need the robot to move a plasmawelding gun at 0,10-0,20 mm/sek.

Regards
TSD63

2

Hi,

The basic principle is to declare a speeddata and then use it, like this:
Declare it in the module

MODULE Module1 VAR speeddata vmin := [ 0.1, 0.1, 0, 0 ];

That is 0.1 mm/s.
Use it in the instruction

PROC Path_10() MoveL Target_20,vmin,fine,tool0WObj:=wobj0;
Beware of the rotational value (second value) since I’ve seen experts making that rookie mistake. As in declaring a low speed but a relatively high rotational speed value, then when doing a joint/circular move you get a bad result.

Check out the RAPID reference manual for details, it gives a warning for instance regarding slow movements: