Thank you Leon.
My aim now is just to control velocity (acc/deacceleration) of the robot (not by pendant) but something with program. The video
My code looks like this
LOOP
A1_Input= ((A1_Input_Val*100)-141) ;A1_Input_Val is signal from PLC & A1_Input is real
A2_Input= ((A2_Input_Val*100)-4)
A3_Input= ((A3_Input_Val*100)-101)
A4_Input= ((A4_Input_Val*100)-101)
A5_Input= ((A5_Input_Val*100)-101)
A6_Input = ((A6_Input_Val/100.0)-119) ;//back to real
NextPose=$AXIS_ACT ;// current value of axis act is copied to Nextpose
NextPose.A1=A1_Input ;//change nextposition to input position
NextPose.A2=A2_Input ;//change nextposition to input position
NextPose.A3=A3_Input ;//change nextposition to input position
NextPose.A4=A4_Input ;//change nextposition to input position
NextPose.A5=A5_Input ;//change nextposition to input position
NextPose.A6=A6_Input ;//change nextposition to input position
PTP NExtPose C_PTP
ENDLOOP
So it can basically move all the 6 axes (E6Axis)according to the input feed from the PLC(both +ve or -ve angle). It will wait at PTP line and wait the input from PLC and move axes accroding to recieved input. I can decrease/increase the speed from pendant but that is not what I want. And $VEL_AXIS[] is controlled by controller and not programmer.
So how can I implement $OV_PRO to control the velocity of axes (lets say for example current position of robot is a1 0, a2 4, a3 42, a4 1, a5 25, a6 -85 and I want to move to new position a1 -120, a2 -33, a3 29, a4 -30, a5 0, a6 0 ). Let say increasing the speed at when it reach near to end position? Any one can please give example suitable for my case?
I looked at system variable manual & expert programming but there is not syntax (and example in this forum are little bit complex to understand). IS it good to use OV_pro in SPU or in .src file? And do we also need to consider the deceleration if we increase speed? I have attached machine.dat if needed.
Thank you.