HOw to configure the speed of puma 560?

[snowingfish]

Hello everyone,

I am trying to set up a Puma robot arm for demo, but I cann't configure the speed of the robot. The manual of VALII said there is a instruction: Speed <value> {<unit>}. But it isnot working when I give the unit argurment. It's only working like:
Speed 20
It seems like a scale of 20% of the robot speed. But how can I know exactly the speed is? let's say in mmps or ips?

Many thanks in advance,

Jason

[Jim C]

It's been many years since I last worked with Unival, but try this:

SPEED 100 MMPS ALWAYS

Speed by itself sets the speed for the next move as a 100%
MMPS makes it mm per seconds instead of a %
ALWAYS set this speed for all moves instead of just the next move.

I know this works in V+ and UNIVAL was a predecessor to V+. I think these instructions were in UNIVAL also, but I can't find any of my old manuals.

[snowingfish]

I just found the system on the robot is VAL not VALII, and in VAL only have SPEED 100 ALWAYS, which means there is no way to set the speed instead of a %, in this way ,the % of what then? what is the normal speed?

and VAL also doesn't have a TRANS(0,0,0,0,0,0), which make it not easy to use compound move in a circle...... :waffen100:any idear about this?

Thanks,
Jason

[Jim C]

I am assuming it is actually using VAL+. Which model controller is it?

As for the speed, there is a monitor speed set from the command line and the program speed set with the SPEED instruction. Both are percent of maximum. However, maximum can vary depending on the arm and where you are in the envelope. In short there is no direct correlation between % and actual speed.

Does not have the TRANS function or does it not support relative points? If it supports relative points you create point values with your offsets to define points on the circle. If it doesn't support relative points, you would create points that include the center combined with the offset.