Speed regulator for programs

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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.

universal_robots_zacobria_speed_regulator_program_1

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.

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

Also check out the CB3 forum



8 thoughts on “Speed regulator for programs

  1. Izabella

    Hello,
    Is there any information about the recommended speeds for the moves?
    Or is it safe to run the robot on lets say 90% of maximum values all the time (fx. for MoveJ: joint speed of 170deg/s and joint acceleration of 2060 deg/s2)?
    If it’s included in the manual please refer me to it, I couldn’t find anything about it myself.
    I need to speed up my program as much as its possible so any information about speed up will be very much appreciated!

    Thank you in advance,
    Izabella

    Reply
    1. zacopressadmin Post author

      Hello Izabella

      Thanks for the question.

      Its not possible to make a general specification – this will properly depend on a local risk assessment.

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

      Also check out the CB3 forum



      Reply
  2. Matt

    Is there any way to use this in a destacking program? I need the UR to move down close to the part quickly but then slow down shortly before reaching the part. I have A laser senser currently giving me a voltage reading the closer it gets to the part but I am stumped on how to get the speed to change without ruining my destaacking program.

    Reply
    1. zacopressadmin Post author

      Hi Matt

      Thanks for the question.

      This setting is for Waypoints – so if there is a waypoint it can be used.

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

      Also check out the CB3 forum



      Reply
  3. 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?

    Reply
    1. zacopressadmin Post author

      Hi Rahul

      Thanks for the question.

      It might be difficult to acheive because of the different nature of a MoveJ and MoveL which might not have the same physical moving distance, bt if it is a short distance then maybe it can be
      considered to base a move on time so a move from A to B is using the same time wheteher it is MoveJ or MoveL should create a similar speed for a short distance.

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

      Also check out the CB3 forum



      Reply
  4. Danilo Hoss

    Hello,
    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

    Reply
    1. zacopressadmin Post author

      Hi Danilo

      Thanks for your question.

      1.
      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.

      http://www.universal-robots.com/how-tos-and-faqs/how-to/ur-how-tos/setting-the-speed-slider-from-a-program-15293/

      2.
      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.
      http://www.universal-robots.com/how-tos-and-faqs/how-to/ur-how-tos/modbus-server-16377/

      3.
      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.

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

      Also check out the CB3 forum

      Reply

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