Profile.Speed2 Property

profile_object.Speed2 Property

Sets and gets the secondary peak motion speed specification as a percentage of their nominal speeds for selected axes during Cartesian motions.

profile_object.Speed2 =<new_value>
-or-
...profile_object.Speed2

Prerequisites

Takes effect when the profile_object is passed as a parameter to a Move Class method and the specified Cartesian motion segment is generated.

Parameters

None

Remarks

For all joint interpolated and the majority of Cartesian motions, the standard Speed property is used to control the peak speed of the robot. However, for certain robot geometries and certain Cartesian (straight-line) motions, it is beneficial to have a secondary property to control motion speeds.

The Speed2 property only applies to Cartesian motions and is generally used to specify a secondary speed setting to control the peak rotation speed for a motion. If Speed2 is zero, both the peak translation and rotation are governed by the Speed property. If Speed2 is non-zero, the peak Cartesian translation motion speed is limited by the Speed property and the peak Cartesian rotation speed is limited by Speed2. For a such a motion, the speed value that is more limiting will govern the overall motion timing.

For most motions, Speed2 should be set to 0. However, if your robot has a wrist that can rotate very quickly and it is unpredictable as to whether the motion will be primarily a translation or a rotation, Speed2 can be set low to limit the speed of a large rotation without negatively impacting motions that are primarily translations.

For some special kinematic modules, Speed2 may also be applied to other degrees-of-freedom. Please see the Kinematic Library for specific information on these special uses.

Examples

Dim prof1 As New Profile   ' Create new profile set to default values
prof1.Straight = True
prof1.Speed2 = 25          ' Limit Cartesian rotation speed
prof1.Speed = 100          ' Keep translation speed at full
Move.Loc (loc1, prof1)     ' Perform motion to previously defined
                           ' location, loc1 with performance “prof1”