# Why is speed limit check point not working?

**URL:** <https://tech-community.robotics.abb.com/t/why-is-speed-limit-check-point-not-working/11574>\
**Category:** RAPID Programming\
**Created:** [August 28, 2024, 12:36pm UTC](https://tech-community.robotics.abb.com/t/why-is-speed-limit-check-point-not-working/11574 "2024-08-28T12:36:03Z")\
**Posts on this page:** 3\
**Page:** 1

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**Author:** ![Gilad](https://avatars.discourse-cdn.com/v4/letter/g/5f9b8f/32.png) [@Gilad](https://tech-community.robotics.abb.com/u/Gilad)\
**Post date:** [August 28, 2024, 12:36pm UTC](https://tech-community.robotics.abb.com/t/why-is-speed-limit-check-point-not-working/11574/1 "2024-08-28T12:36:03Z")

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I am trying to program a robot to take a specified amount of time going from point to point, but I wanted to decrease the maximum speed so that it doesn’t choose to run at the max speed of the robot.

The ideal code would look like this:

SpeedLimCheckPoint 500;  
SetDO LimitSpeedDO,high;

FOR i FROM 1 TO 8 DO  
FOR j FROM 1 TO 52 DO  
HighRingJoint i,j; ! Runs through a function to assign calibrationPos with the next point on the list

MoveAbsJ CalibrationPos,SpeedSelect\T:=TimeSelect,ZoneSelect,currentTool;  
ENDIF  
ENDFOR  
ENDFOR

Each of the positions the robot is moving to is a joint target.

SpeedSelect is set to v1000 and zoneSelect is z50.

When I noticed that this didn’t work I then tried running the program by removing the time component to the move but I am still not seeing the correct response

When I run the simulation (without the time component) without the speed limit the robot will run at 1000mm/s, but as soon as I use the speed limit it drops to about 100mm/s.

Is anyone able to help with this?  
I am using the speed in current Wobj signal in the signal analyzer to see the results.

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<div class="post-metadata">

**Author:** ![graemepaulin](https://avatars.discourse-cdn.com/v4/letter/g/258eb7/32.png) [@graemepaulin](https://tech-community.robotics.abb.com/u/graemepaulin)\
**Post date:** [August 28, 2024, 8:13pm UTC](https://tech-community.robotics.abb.com/t/why-is-speed-limit-check-point-not-working/11574/2 "2024-08-28T20:13:37Z")

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Not sure what is happening there try using Velset instead.

 ![image.jpg](https://europe1.discourse-cdn.com/flex005/uploads/robotics1/original/1X/5b1f4a53e1d2b9ebbb5336dfbedcb42db1712377.jpeg)

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<div class="post-metadata">

**Author:** ![Gilad](https://avatars.discourse-cdn.com/v4/letter/g/5f9b8f/32.png) [@Gilad](https://tech-community.robotics.abb.com/u/Gilad)\
**Post date:** [August 29, 2024, 1:58pm UTC](https://tech-community.robotics.abb.com/t/why-is-speed-limit-check-point-not-working/11574/3 "2024-08-29T13:58:20Z")

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So I tried Velset but it doesn’t work when you have the time component in the instruction.  
It did work though when I got rid of the time component and just had the speed set.

I need the time aspect to work though.