Overview

Task

This function limits the TCP (tool centre point) velocity of any kinematic to a maximum value. The function is used, for example, with industrial robots that are equipped with the T1 operation mode according to EN ISO 10218-1. This allows operators to enter the robot workspace in order to carry out set-up work.

If set-up work is carried out with a CNC that controls the robot, the operator can limit the TCP velocity to a non-hazardous value.

Properties

The function is independent of the kinematic used in the NC program. The TCP velocity limit of a kinematic is enabled and disabled via the HLI of the CNC before program start or even during operation.

	This function is available as of CNC Build V3.1.3079.26.

Parameterisation

See Parameterisation example for operation mode in T1 mode

Mandatory note on references to other documents

For the sake of clarity, links to other documents and parameters are abbreviated, e.g. [PROG] for the Programming Manual or P-AXIS-00001 for an axis parameter.

For technical reasons, these links only function in the Online Help (HTML5, CHM) but not in pdf files since pdfs do not support cross-linking.