Slowing Down on Input

Robot Controller
1

Hello,

I would like to perform a move (e.g., MoveL, MoveC) and have the robot move at 100mm/s when an input is off and 4mm/s when the input is on. I have tried using interupts and VelSet, but VelSet doesn’t affect the current move - only subsequent moves. I have also tried using interupts and SpeedRefresh, but to obtain the required speed the argument to SpeedRefresh needs to be 4*100/MaxRobSpeed() = 0.08 which causes the robot cease movement. Any ideas?

Best regards,
Don.

2

Hi,
In this case you should use SpeedRefresh 4 (as you want the speed to be 4% of v100).

Please note that SpeedRefresh does not work instantaneously, there is a lag of 0,3 to 0,5 seconds.

Look at the documentation of SpeedRefresh for more details. Good luck!

3

Thanks mate. That’s it.

4

Why not simply IF di1=1 THEN
MoveL p10, v100,z10,tGrip;
ELSE
MoveL p10,v4,z10,tGrip;
ENDIF