# Speed Robot

**URL:** <https://tech-community.robotics.abb.com/t/speed-robot/5194>\
**Category:** Robot Controller\
**Created:** [November 9, 2012, 3:17pm UTC](https://tech-community.robotics.abb.com/t/speed-robot/5194 "2012-11-09T15:17:46Z")\
**Posts on this page:** 3\
**Page:** 1

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**Author:** ![Enry](https://avatars.discourse-cdn.com/v4/letter/e/9fc29f/32.png) [@Enry](https://tech-community.robotics.abb.com/u/Enry)\
**Post date:** [November 9, 2012, 3:17pm UTC](https://tech-community.robotics.abb.com/t/speed-robot/5194/1 "2012-11-09T15:17:46Z")

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Good morning to everybody,  
does someone know how to tell me which parameter it returns me, in real time, the speed done plan on the flexpendant?  
Thanks

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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:** [November 12, 2012, 9:03am UTC](https://tech-community.robotics.abb.com/t/speed-robot/5194/2 "2012-11-12T09:03:22Z")

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Hi  
You can define a system output for the TCP speed  
EIO.cfg  
SYSSIG\_OUT:  
-Status “TCPSpeed” -Signal “aoTcpSpeed” -Arg1 “ROB\_1”

For output on the flexpendant you could use a time triggered interrupt and give out the value with:  
TPErase;  
TPWrite “TCP-speed: “+NumToStr(AOutput(aoTcpSpeed)\*1000,0)+” mm/s”;

I hope it works then I didn’t test it.

Best regards  
Marcel

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<div class="post-metadata">

**Author:** ![Enry](https://avatars.discourse-cdn.com/v4/letter/e/9fc29f/32.png) [@Enry](https://tech-community.robotics.abb.com/u/Enry)\
**Post date:** [November 12, 2012, 3:05pm UTC](https://tech-community.robotics.abb.com/t/speed-robot/5194/3 "2012-11-12T15:05:44Z")

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Thanks thousand,  
but in reality what I would like to do is to modify the speed of the in operation Tcp of the speed planned on the Flexpendant, this to have a speed +o - constant of some movements of mine even if they vary the speed from Flexpendant.  
For example planning the speed vProva.v\_tcp:=1000, I would like that the time employed by the robot by the punto1 to the punto2 both around the same one, both to 25%, and to 100%.  
I have made different tests, but it seems that I/you/he/she always command and however the speed of the FlexPendant ( vProva.v\_tcp:=1000 to 100% have tried with vProva.v\_tcp:=5000 to 20%, but the second part is slow more and more).  
Reassuming, do you know how to tell me if a way exists for getting a constant speed varying the percentage from FlexPendant?  
In advance thanking all, I wish You Good Day.