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SebastienSebastien Posts: 194 Handy
Hi pros,
Does anyone knows if we can force the robot speed override (the slidder at the bottom of the teach pendant) to 100% in the robot program?
Because we have some points that are speed critical in the program and it does not work if we are not at 100%.


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  • matthewd92matthewd92 Posts: 385Founding Pro, Tactile Sensor Beta Testers Handy
    Yes, we actually do the same thing, we have a couple of points where if its at 100% we can't ensure we do them everytime without faulting and since they are calculated and we don' want to slow the whole program down we actually will change the speed slider for only the times where the calculated point lies within the region where we have the issue....this is the poor man's approach to variable speed and accel which would be awesome if we could get that from UR.

    Here is the code that we use

    def runSlow(speed):
    
    socket_open("127.0.0.1",30002)
    socket_send_string("set speed")
    socket_send_string(speed)
    socket_send_byte(10)
    socket_close()
    
    end

    Then in our program we just call runSlow(XX) with XX being a value between 0 and 1, recommend never using 0 as that effectively pauses the robot.

    You could also use port 30003 which may be a bit quicker since its processing at 125 Hz versus 30002 which is at 10 Hz, I have not tested to see if there is any difference. 

  • SebastienSebastien Posts: 194 Handy
    @matthewd92
    Quite complexe for something that I thought would be simple!

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