I want to limit the robot's play speed to some percentage, say 75%, much like speed override in Fanuc. I have read here on the forum and in the ABB manuals that either VELSET or SPEEDREFRESH should do what I want, with some differences in behavior. My problem is that neither one is affecting the speed in any way. When I switch to auto, the FlexPendant speed changes to 100%. Normal so far. In the main routine of my main program, I have added the following test code:
WHILE TRUE DO
SpeedRefresh 50;
!VelSet 50, 1000;
MoveJ pPickupPerch, v1000, z10, tool1;
MoveJ pHomePosition, v800, z5, tool0;
ENDWHILE
When I execute the code, the robot runs at 100%, and I can change the speed from the pendant to whatever I want it to be. Same behavior if I comment the SpeedRefresh line and uncomment the VelSet line.
I have seen examples here and in the manual that use a trap to change the speed dynamically. I'd rather not do that as my intention is for this to be a global override set once at the top of my main routine, not anything driven by a sensor or PLC signal.
Is there a parameter or setting I need to check that affects this functionality?
Thanks,
Scott