I'm a longtime lurker and, as of today, first time poster.
I started working with Kawasaki robots 2 years ago and this board has been a trove of lifesaving information a lot of times, so first of all THANK YOU!
Secondly, my problem: I've been asked to implement a solution to change the speed of the robot ( an RS007n with F controller) mid-movement without stopping; from my experience I don't think it is possible, but I thought it was worth asking here.
My current solution looks like this, I tested it on the simulator and it seems to be working:
.PROGRAM autostart.pc() #0
10 TWAIT 0.2
IF SIG(1) THEN ;signal to trigger the hold and speed change
CASE TASK(1) OF ;returns the status of the main program (values considered: 1 running, 2 held)
VALUE 1: ;if the program is running, it holds the robot and changes the speed
MC SPEED 6
VALUE 2: ;if the program is held, the program resumes and the signal get reset
IF (TASK(1)==2) THEN
Obviously in a real robot implementation I will get the request to change the speed and the speed value from the PLC, so the program will be a bit different.
Any suggestions are welcome.