Is velocity control possible with the IRC5 controller (and IRB-360)

BrianHoll · November 30, 2017 at 4:28 AM

Hi there,

I am a newbie to working with ABB robots and have been tasked with a project to implement a velocity controller to control an IRB-360 to throw an object a small distance.

Unfortunately to this date I have had very little success in finding any velocity control application what so ever in my readings and I am becoming of the opinion that it there is a good reason that I have not found anything (i.e. it is not possible in the first place).

Other than the obvious fact that RAPID only seems to allow position control, just wondering if anyone has had any experience in implementing a velocity controller on ABB robots or whether it is possible at all?

Best Regards,

Brian.

Iowan · November 30, 2017 at 4:18 PM

There is a velocity component on each Move instruction. In addition to the "canned" velocities, you can use the "\V" option to specify TCP velocity in mm/s. Acceleration/deceleration can affect effective velocity - as can zone data.

enagy · November 30, 2017 at 4:24 PM

I've been doing this and calling the Procedure as required.

Code

PERS speeddata vCreep;
    PERS speeddata vSlow;
    PERS speeddata vMed;
    PERS speeddata vFast;
    PERS num CurSpeed;


    PROC SetRobotSpeed(\switch Slow\switch Medium\switch Fast)


        ! **
        ! Robot Speed Setting
        ! Set CurSpeed to Speed Selection
        ! (1 - Slow)
        ! (2 - Medium)
        ! (3 - Fast)
        !**


        IF Present(Slow) THEN


            ! Set Speeds to Slow Setting
            ! Typically used for Homing
            TPWrite "Setting Robot Speed to *Slow*";
            vCreep:=v30;
            vSlow:=v50;
            vMed:=v150;
            vFast:=v300;
            CurSpeed:=1;


        ELSEIF Present(Medium) THEN


            ! Set Speeds to Medium Setting
            ! Typically used for Testing or Homing from a Known Position
            TPWrite "Setting Robot Speed to *Medium*";
            vCreep:=v30;
            vSlow:=v150;
            vMed:=v500;
            vFast:=v1000;
            CurSpeed:=2;


        ELSEIF Present(Fast) THEN


            ! Set Speeds to Fast Setting
            ! Typically used to Regular Production
            TPWrite "Setting Robot Speed to *Fast*";
            vCreep:=v200;
            vSlow:=v1000;
            vMed:=v4000;
            vFast:=v6000;
            CurSpeed:=3;


        ENDIF


    ENDPROC

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Is velocity control possible with the IRC5 controller (and IRB-360)

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