Setting Safety Speed Limits

Hey all, I am running some test to validate I am limiting the speed of my robot correctly.

I am using a KRC5 8.7.5 with a KR 20 R1810-2.

I have read through this post which was very helpful, but I still had some questions.
How to limt the speed of KUKA robot

I setup this simple program to make the robot Move at 200 mm, Twist 30 degrees, Swivel 30 degrees, then return to the starting position before I set any limits on the velocity.

I ran the program before and after setting a velocity limit at 20 mm.
I was doing this to check multiple things:

1. make sure the velocity limit would slow down my tool after setting velocity limit
   • I monitored $VEL_ACT while running to see the speed reduction
     • Before limiting velocity, $VEL_ACT topped out at 180 mm/s
     • After limiting velocity, $VEL_ACT topped out at 15mm/s
       • I am not sure why I wasn't getting up to the set velocity. My LIN move seemed long enough to accelerate to 200 mm/s.
2. see if any warnings or errors are thrown if I exceed my set limit
   • No warnings or errors popped up when I commanded a most at 200mm when the limit was set to 20m
     • I guess this is something I could check for in the submit and throw my own warnings
3. confirm that swivel and twist would happen at the same speed after setting the velocity limit if the point of the positions were the same
   • Swivel and Twist happened at the same speed with or without the velocity limit (as assumed)
   • I changed $VEL.ORI1 and $VEL.ORI2 to control the rotations speeds
     • This doesn't seem like a "safe" way to limit the robot
     • I guess my only real option is to limit the degrees/s for the axis of the arm

DECL E6POS startPos
DECL E6POS endPos
DECL E6POS twistPos
DECL E6POS swivPos

;make positions
startPos = $POS_Act

endPos = startPos
endPos.Y = endPos.Y + 200

twistPos = endPos
twistPos.c = twistPos.c - 30

swivPos = endPos : {x 0,y 0, z 0,a 30,b 0,c 0}

;set coordinates
BAS (#INITMOV, 0)
FDAT_ACT.TOOL_NO = 0
FDAT_ACT.BASE_NO = 0
BAS (#FRAMES)

;set speed
$APO.CDIS = 20
BAS(#VEL_CP, 200)
$vel.ori1 = 200
$vel.ori2 = 200

;move
PTP $AXIS_ACT
LIN startPos
LIN endPos
LIN twistPos
LIN endPos
LIN swivPos
LIN endPos
LIN startPos

I have a couple of questions ( sorry if I provided too much information up front ).

1. Is there a reason why the robot went slower than my commanded velocity?
   • I can understand why it didn't reach 200 mm/s before the set limit, but I don't understand why it couldn't get to 20 mm/s with the limit on the exact same move.
2. Is there any other "safe" way to limit ORI1 and ORI2 directly other than limiting the degrees/s of the Axis?
3. Is there a way to make the robot report warnings if the set velocity exceeds the Velocity limit
4. Is there a way to make the robot report warnings if the joint speed is commanded to exceed rotation limits?

Thank you for the help in advance! I hope this post is informative and helpful for others as well.

Thanks Fubini, I haven't ever messed with $SR_VEL_RED or $SR_OV_RED.

This makes sense for what I was I was seeing, so I will dig into those options when I am near that machine again.