Limit T2 speed

    Is there a way to limit T2 speed?

    Maybe some variable?


    I have a welding application, so for every weld override must be 100%.


    Best I could think of was to set DCS Speed check with override setting:

    DCS is checking speed. If speed is > 200 mm/s, override goes to 5%.

    This solution is working, but robot is constantly accelerating and decelerating and it doesn't look good.


    Other solution I know is to limit speed in DCS, and programably setting overrride.

    Before each weld OVERRIDE=100%, after each weld IF T2 THEN OVERRIDE=5%.


    Any other ideas?

    Thanks

    Quote from dha

    If speed is > 200 mm/s, override goes to 5%.

    Why can't you use T1? It will limit to 250 mm/s, which is much greater than weld speed for any application I've ever seen. Your DCS logic is essentally doing the same thing, unless you're welding at a ridiculous speed greater that 250 mm/s?


    Am I missing something?

    What controller are you using? I run welding as well. We have the same problem with R-30iA & R-30iB's. COORD & Circle moves run slower than usual in T1. They seemed to have resolved the problem on R-30iB+

    I tested this on R-30iB+ but no change. Still getting T1 Speed limit during weld.

    Also positioner speed is unusably slow in T1.


    My only solution would be limit T2 speed for robot...

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