Slow start

    Hello,


    If i want to enable the function slow start with the speed repeat time at 60 seconds and in the program there are instructions
    with absolute speed, how will the robot will move? With the speed in the slow start or with the speed in the absolute speed?


    For example:


    HOME
    JMOVE above
    ABS.SPEED ON
    SPEED 120 MM/S
    ACCURACY 1 FINE
    XMOVE/LVL ppm TILL 2025
    ABS.SPEED OFF


    Thank you,
    Alex!

    Normally ABS.SPEED is ignored if calculated speed is higher than maximum allowed speed by monitor speed.
    For example, if you set monitor speed to 30% with a program like this:


    ABS.SPEED ON
    SPEED 40
    LMOVE p1
    ABS.SPEED OFF


    Motion to p1 is done at 30% * 40% = 12%


    I assume this will be the same with SLOW REPEAT.


    For a ZD130S robot, 120mm/s is only 1.2%, so I think ABS.SPEED with this low speed will just work.


    A quick test in PC-AS confirms this.

    Not stepping in, but just to bolster what Kawaguy mentioned, the slow repeat function is enabled when you turn on the slow start system switch (I think defaults at 10%).
    - You can set the speed using slow repeat (range between 1% and 25%).
    - You can also dedicate Slow repeat mode and map to an input, to offer better control especially if your recovering.

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