Is there a system variable from where I can at any moment read the actual TCP speed in R30 iB?
R30 iB : read actual TCP speed
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Plc_User -
February 4, 2017 at 5:39 PM -
Thread is marked as Resolved.
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No ideas?
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I don't know a / the system variable(s), but there are two options that come to mind: "TCP Speed Output" and "TCP Speed Prediction" (J524?).
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I was just browsing the system variables on the R-30iB to find the TCP speed, but no luck. I only found some variables holding the current angular positions of all joints. Guess it is not possible without the mentioned software option.
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Set $SCR_GRP[1].$M_POS_ENB to true and reboot.
$SCR_GRP[1].$MCH_SPD will give calculated TCP speed.The variable is not very accurate (spikes) and refresh rate is low, so for most applications you should still need to order the mentioned option. At least you can start testing now.
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Thanks for this Input with the Sys-Vars...
BUT: In my case, there is $M_POS_ENB true, but the $MCH_SPD is not changing.
At least I figured out the candidate to check the speed now. There is another Variable $M_DST_ENB, maybe you have to set this one to TRUE. I will check, wenn i can reboot the robot the next time.
Btw: I have to check if the robot stands still or not. I guess this variable should do the trick. If I wouldnt have found that, I would probably introduced a DCS-Joint-Speed-Limit as Monitor with Saftety-IO mapped to DO
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I just set the $M_DST_ENB to true and now i can see moving distance and speed changing. You dont need a reboot of the robot!
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The Variable is VERY inaccurate. When robot is NOT moving in a track-program, it still shows values >20 mm/s - hard to find a threshold there
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this variable $MCR_GRP[1].$otf_speed provides the speed of the last movement.