maximum speed in teach mode of a external axis

[JHP]

Hi Forum,

the maximum speed in teach mode is 250 mm/s from TCP.

But how it is by an external axis like a turn table?

Best regads,
jhp

[95devils]

I'll take a stab at this.  It's no different than when you're jogging the robot in joint.  The TCP is only being controlled in RECT, CYL, TOOL, and USER coordinates (are others based on software options).  When jogging a robot in joint there are parameters that say how fast to move in Joint in the manual jogging speeds, Inching, Low, Medium, and High.  You didn't specify controller, so I believe on NX they would be S1C1G045-S1C1G047.

A base track would be the same way just different parameters, S1CxG045-S1CxG048.  Buried in the firmware is a maximum that you can't exceed (if a value higher than allowed was attempted to be entered, an error would occur, enter correct value).  Same as if you tried to enter in a number more than 2501 in the parameters for linear jogging speeds.

 

[JHP]

Thanks 95devils,

but I'm looking for, how the robot handle the reduced speed (Speed limitation for European safety specification) for an external axis

Best Regards,
JHP

[Robo Guru]

I would imagine that the software uses the setup information provided for your external axis.  I'm only guessing but maybe it takes into account the reduction ratio of the gear box for the base track and then looks at the motor max RPM to determine what the max speed would be???

[JHP]

hi robot guru,

well ... so far so good, but the speed is depending on the circumference of the turn table .... where is point where I could measure the speed.

Close to the centre the speed (mm/s) I lower as on the higher circumference?!

Best Regards,
JHP

[Robo Guru]

I'm just guessing but I would assume that the speed would be taken from the motor shaft which would be the center of your turn table.  The robot doesn't know how big your turn table is... I mean it could be 12 feet in diamter or 3 feet in diameter... regardless of the size of your table the motor would rotate at the same speed.

Not sure if this helps... I am only making assumptions

[motomaster]

the speed of any axis is limited to 25% of max speed in teach mode