Profile.Speed Property

profile_object.Speed Property

Sets and gets the peak motion speed specified as a percentage of the nominal speed.

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

Prerequisites

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

Parameters

None

Remarks

When generating a motion segment, the Speed property defines the peak speed that the motion can achieve. A Speed value of 100 corresponds to the nominal (100%) speed for the specified type of motion. The Speed value can range from 0.01 up to a maximum value permitted for the robot. For a Straight-line motion, the speed is computed along the path and about the Cartesian rotational angles defined by the robot’s kinematic module. For joint motions, the speed percentage is applied to the joint angles.

While 100% is normally the maximum operating speed recommended by the robot manufacturer, there are times that a greater Speed setting may be beneficial. Often, the 100% Speed setting is established for when the robot is carrying its maximum payload. Also, 100% Speed may be the sustained maximum speed setting, but higher burst speeds may be permitted.

The speed that the robot actually achieves for a given motion may be different than the specified Speed value for a number of reasons: the motion may not be long enough to ramp up to the specified speed given the available acceleration; the Speed value may be limited by the maximum permitted Speed value; or the operator may have set a slow “Test Speed” that scales down the specified Speed value.

When a New Profile is created, its properties are automatically set to the default values specified in the controller’s Configuration Database. Therefore, the Speed parameter only needs to be set if you wish to deviate from the default value.

Examples

Dim prof1 As New Profile   ' Create new profile set to default values
prof1.Speed = 50           ' Only go at half of the rated speed
Move.Loc (loc1, prof1)     ' Perform motion to previously defined
                           ' location, loc1 with performance “prof1”