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process simulate reduce speed with $VEL.CP command for SaveMove

PLM World Member Phenom PLM World Member Phenom
PLM World Member Phenom

it is possible to reduce the robot speed via $VEL.CP olp command? YES

 

in my case i search a solution for safemove.

i check in simulation the safe zone of robot.

if the robot has collision with safe zone i will set a new speed for the robot. ($VEL.CP)

 

it is possible to change the speed outside from olp command? (Logic Block)

 

 

Kind regards,

Benjamin Voelzke
8 REPLIES

Re: process simulate reduce speed with $VEL.CP command for SaveMove

Siemens Phenom Siemens Phenom
Siemens Phenom

It is not possible.

 

The best you can do is to have a speed signal as output of your logic block, connect it as robot input signal ($IN[1] for instance), and then have OLP command $VEL.CP = $IN[1] on each location.

Re: process simulate reduce speed with $VEL.CP command for SaveMove

PLM World Member Phenom PLM World Member Phenom
PLM World Member Phenom

ok i will test the senario.

 

in my first test i write         

    $VEL.CP=2.0

in olp command.

 

but ps dosn't change the speed of robot.

 

    $VEL.CP this system signal of kuka robot is define as real value.

 

in your example you write a signal (Bool) on it?

Kind regards,

Benjamin Voelzke

Re: process simulate reduce speed with $VEL.CP command for SaveMove

PLM World Member Phenom PLM World Member Phenom
PLM World Member Phenom

i tested the function $VEL.CP.

but the time is not changed.

see pictures.

1.jpg

 

2.jpg

 

3.jpg

 

4.jpg

 

 

Kind regards,

Benjamin Voelzke

Re: process simulate reduce speed with $VEL.CP command for SaveMove

Siemens Phenom Siemens Phenom
Siemens Phenom

I did not check myself, I just trusted your initial statement "it is possible to reduce the robot speed via $VEL.CP olp command? YES"...

 

The speed explicitly defined on the locations is probably overriding the OLP Command. Try to remove the speed from the locations.

 

Re: process simulate reduce speed with $VEL.CP command for SaveMove

Siemens Phenom Siemens Phenom
Siemens Phenom

Concerning my example, indeed it should be a real input signal (or at least an integer one) and not a boolean one (as is $IN[1]).

Re: process simulate reduce speed with $VEL.CP command for SaveMove

PLM World Member Phenom PLM World Member Phenom
PLM World Member Phenom

i tested the $Vel_cp again. it's works correctly on LIN points.

 

But i search a global solution for reduce the override of robot.

$OV_PRO or $VEL

 

i will reduce the speed if the robot drive to a safezone.

Kind regards,

Benjamin Voelzke

Re: process simulate reduce speed with $VEL.CP command for SaveMove

PLM World Member Phenom PLM World Member Phenom
PLM World Member Phenom

can i change the speed over the api code?

i can insert a logic block in the robot and jump via signal to api code.

 

it is possible?

Kind regards,

Benjamin Voelzke

Re: process simulate reduce speed with $VEL.CP command for SaveMove

Siemens Phenom Siemens Phenom
Siemens Phenom

It is not possible to change the speed during simulation via API.