I have a robotic path in which the location has joint speed as 100%, 50% and so on.
I want to write customized path template for it so that the joint values are changes to 10% of their values.
in your Tecnomatix installation <Tecnomatix>\eMPower\Robotics\OLP you will find the "RoboticsCustomizedUIManual.pdf" file.
This description includes all information about Path Template creation. You will also find some examples.
I m not able to find any mehod to changes joint speed to 10% of their values.
I'm able to change the joint speed of all location to some specific value but i want to change every joint speed to some specific percentage value for example 10%.
If you want to have 10% of the actual speed value, multiply it with 0.1.
<Action Name="ChangeTo10Percent" LocRange="All" MotionTypes="1" Description="">
<Param Name="Speed" Dynamic="True" Expression="![CDATA[('Speed'*0.1)]]" />
If you used the code I posted, please be sure the Operation you selected includes PTP locations.
Otherwise, please change the value of "MotionTypes" to the one you need. you can also have MotionTypes="1,2".
If it doesn´t solve the problem, could you please provide your pathtemplate.xml or only the action of it and further information:
- Robot vendor
- type of operation
Please check the name of your "Speed" column used for your robot controller.
In my case it was a Kuka robot. So the speed column is also named "Speed".
Maybe it´s name "Speed Data" or something else.
Then you also have to change the "Speed" parameter in XML code.