I was wondering if anyone could tell me which system variable stores the current robot speed.
Thanks
I was wondering if anyone could tell me which system variable stores the current robot speed.
Thanks
To monitor current TCP speed:
Set $SCR_GRP[1].$M_DST_ENB to true
and monitor $SCR_GRP[1].$MCH_SPD
You can search the forum for that variable for more info. I don't believe it updates while jogging, only while running a program.
I mean the percentage. I want to monitor if someone increases or decreases the percentage and the company doesn't want to use the override select.
Use $MCR.$GENOVERRIDE which is the global override shown on the TP.
Awesome thanks
You can also write to that variable and the robot will accept it. Anything from 1 to 100. I do this in a background program on cells I commission occasionally.
Just put a conditional around it for when the robot is in teach mode. It's annoying to fight the plc when teaching.
That's what I was thinking if doing is writing to it in the background.l and that's a good point about the teach mode to disable it.
I also control the override of my robots in a background task. In auto mode via PLC and in teach mode with TP enabled via TP. I normally also lock die +% and -% keys on the TP when the PLC controls the override.
DS186,
If you don't mind, how do you lock out the +% and -% keys?
I have also looked at the variable $MCR.$GENOVERRIDE and compared to a R[…:speed].
This way I can allow them to speed it up but never go slower than the register (speed is critical to the cycle time).
Or let them slow it down with the +% and -% keys but never go faster than the register (no need for speed, very long cycle times)
And one more use, long cycle time machining, I will move slow through picking and prepping a part for load or placing the finished part. Then have a very high speed for machine unload/load (which determines machine thru-put)
DS186,
If you don't mind, how do you lock out the +% and -% keys?
To lock the +% and -% keys, set $GENOV_ENB=0. You can do this in your background task. Don't forget to unlock the keys with $GENOV_ENB=1 when you want to use the keys again.
Thanks!
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