# Extern Axis change Rotation speed

• Dear Community

I have an IRB 4600 with External axis.I need a help to reduce rotation speed from external axis.My start diagonal is 500mm end is 600.

I have no multitasking.

Thanks for any help

Tom

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• What's the application ?

Which external axis is it ? ABB's own, 3rd pary ?

Assuming the gear ratio is correct, i.e. you rotate it 360-degrees on the pendant and it represents 360 degrees in reality, your solution is to measure a base frame and coordinate your movement (w. a moving work object linked to your external axis).

The "lazy" solution is to define your own speed data and change the r-eax (rotational external axis) to a lower number than default (which I think is 5000 or something on all pre-defined speed data).

• I just do not understand your question. You are asking about rotation speed but mention "diagonal" when axis speed is usually rpm. And you mention 500mm and 600. Can you please explain better/rephrase your problem?

• Just create new speed data and define each speed value.

You can set limit rev/mm or rev/deg.

var speeddata vMyspd := 500, 500, 40, 5

MoveJ p30, vMyspd, Fine, tool0;

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ABB<br />FANUC<br />KAWASAKI<br />HHIR<br /><br />I Can handle it!

• Hello SAABoholic

I just do not understand your question. You are asking about rotation speed but mention "diagonal" when axis speed is usually rpm. And you mention 500mm and 600. Can you please explain better/rephrase your problem?

Hi

I have a part Start diameter 500mm End Diameter 600mm.I need more start rot speed and lower end Rot speed.Working with INDMove i can chage the Rotation speed but external axis jumps a little every speed change. The Robot is indepent from External Axis. I hope so is more understandable.

It is possible continious Rot speed changing from start to end ?

Sorry for my bad English .

Thanks for Help

Tom

• So if the jumping is an issue on speed increases you could decrease the parameters for Accel Max, that would cause it to speed up more slowly. Also, you could look into Accset instruction. In particular, ramp, which should reduce jerkiness. Note that it will also affect the robot.

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