Speed regulator for programs

Also checkout the new CB3 forum

Setting Speed for Program run.

When highlighting Waypoints in the Program block then the “Command” tab also have a function called “Show advanced options” try and tick that option.


This is used to define how fast the robot should move. Each Waypoint can be defined for how fast the robot should reach there from previous Waypoint.

This setting can be defined as pure time as a formula of the joint speed and acceleration.

Be aware of that if the speed is set low in relation to how far the two Waypoints are from each other then the robot might try to speed up and run too fast which will cause a Security stop to be activated.

Disclaimer: While the Zacobria Pte. Ltd. believes that information and guidance provided is correct, parties must rely upon their skill and judgement when making use of them. Zacobria Pte. Ltd. assumes no liability for loss or damage caused by error or omission, whether such an error or omission is the result of negligence or any other cause. Where reference is made to legislation it is not to be considered as legal advice. Any and all such liability is disclaimed.

If you need specific advice (for example, medical, legal, financial or risk management), please seek a professional who is licensed or knowledgeable in that area.

By Zacobria Lars Skovsgaard
Accredited Universal Robots support Centre and Forum.

Also check out the CB3 forum

3 thoughts on “Speed regulator for programs

  1. Rahul

    Is there a way to convert joint speed to Tool speed?

    I was using Move J command for a Move and now I am planning to use Move L. And I want the same speed for Move L as that of the old Move j command. So is there a way to convert way to convert joint speed to Tool speed?

  2. Danilo Hoss

    is there a way to read out the actual value of the speed slider by a modbus
    or socket tcp server ?
    that would help me a lot!

    thanks and best regards

    1. zacopressadmin Post author

      Hi Danilo

      Thanks for your question.

      I have not seen a command to read the speed slider. But at the link below there is an example to set the speed slider from the program. Which means it would be possible to know the setting in the program (if the slider is set from the program) and store the value in a variable which can be send over to a host. And then make the program so the speed slider is to be set via the program with the method shown at the link – instead of using the slider on the screen.


      Also some data for speed can be read from MODBUS register 410-415 as shown at the link below – but maybe thats not directly the data you are looking for.

      The idea of the speed slider is to use the slider during testing – troubleshooting and commissioning. Ideally the slider is set to 100% when running the program in production – and then if there is a need to change speed during production – then make such feature in the program instead of using the slider. Otherwise there is a risk that the robot is not running at intended speed during production if the slider is acessable for the user and it has been changed.

      By Zacobria Lars Skovsgaard
      Accredited Universal Robots support Centre and Forum.

      Also check out the CB3 forum


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