set max velocity for all movements

  • I am setting up a robot for an application that requires slow (not fast) motions. Since I never need the robot to move fast, for additional safety considerations, I want to permanently limit the top-end speed of TCP as well as all axes at all times. This robot should never ever move quickly.


    Where can I reduce the maximum velocity of the robot? I'm hopeful there's a global configuration file/var.


    KR C4 controller
    KR 60 HA robot

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  • i would say that the only safe way to limit the speed is to use SafeOp.
    of course you can also cap the max speed of all axes for example by entering smaller values than original in $VEL_AXIS_MA[1-6]

    1) read pinned topic: READ FIRST...

    2) if you have an issue with robot, post question in the correct forum section... do NOT contact me directly

    3) read 1 and 2

  • In sps (between Loop)you can limit the $Ov_pro value some thing like:


    $OV_PRO = 10
    If $OV >15 THEN ;or your desired value
    $OV_pro =14
    ENDIF

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