Speed Data

Description

Declarative Action: Defines the speed data for a Move component. The speed data is used to specify the velocity at which both the robot and the external axes move.

Input Parameters

Name (N): Defines the name of the speed data based on a text value. Each speed data name needs to be unique or empty. The first letter shouldn’t be a number. Don’t use special characters. The variables names will be updated based on the list or datatree structure this component generates.

TCP Velocity (vTCP): Defines the velocity of the tool center point (TCP) in mm/s as a number value.

ORI Velocity (vORI): Defines the reorientation velocity of the robot tool in degrees/s as a number value.

LEAX Velocity (vLEAX): Defines the external linear axes velocity in mm/s as a number value.

REAX Velocity (vREAX): Defines the external axes reorientation velocity in degrees/s as a number value.

Output Parameters

Speed Data (SD): Contains the speed data as action for a robot movement instruction.

Usage

Code Generation: Plug the Speed Data output parameter of this component into the Speed Data input parameter of the Move component to set the speed behavior of the robot movement. This will also add a speeddata declaration to the RAPID program module.