Hello everyone,
How to read the real TCP velocity? I'm working on a project where I have noticed that even though we have set the desired velocity on 250mm/s, the actual velocity is not 250mm/s during the whole path. How to read the actual velocity and use the value for the next move? Background tasks? Any ideas?
Kind regards! 
That means you have modified the acceleration and/or jerk limit for the motion. Could also be that your TCP is not where you think it is.
The easiest way to limit the velocity of a motion is with the 'Enhanced Velocity Controller'. This is an extra option package which is provided by KUKA.
There you can configure the desired velocity within in the safety configuration. If you need several velocity limits you can put them into different ESM and change between those.
I have no idea how much you have to pay for this option package, but it makes this really easy and safe.
The question actually is, if I program a movement with 250mm/s...what happens if the robot cannot reach the 250mm/s for the specific part of the path; an example, it reaches 230mm/s. And if I have a gluing application, I want to know the exact speed of the TCP so I can apply the glue correctly.On KRL, it is possible to read the real-time TCP speed (analog input).
Thank you all for your ideas!
You could create a thread/background task that polls the TCP position x number of times per x time unit and compare it to the last polled position. You could simply calculate the distance between these 2 points, now you have delta distance and delta time. Should be fairly accurate if you are doing mostly lin, for circ or other motions the accuracy might not be as good.
