28.

TCP SPEED OUTPUT B-83284EN-2/04

28 TCP SPEED OUTPUT

28.1 OVERVIEW
The TCP speed output function outputs the predicted speed of tool center point (TCP) via analog output
signals, group output signals, or registers. A software option, TCP speed output function, is required to use
this function. The TCP predicted speed is converted on the output condition that is defined by the following
setup items:
x Min. value
x Max. value
x Min. speed (mm/sec)
x Max. speed (mm/sec)

The following figure shows the relationship between TCP predicted speed and output.
Output

Max. value

Min. value

Min. speed Max. speed TCP predicted speed

The Min value is output when TCP predicted speed is the specified Min speed or below. The Max value is
output when TCP predicted speed is the specified Max speed or above. The following figure shows the
relationship between TCP predicted speed and output when you set the Max value to a value of less than
Min value.
Output

Min. value

Max. value

Min. speed Max. speed TCP predicted speed

28.2 LIMITATIONS
There are limitations on use of the TCP speed output function.
x This function is not available on DispenseTool or Dispense-enabled SpotTool+.
x This function is not available with tracking functions e.g. Line Tracking.
x TCP predicted speed is output only while the robot is moving by program execution.
x TCP predicted speed reflects only group 1 motion.
x TCP predicted speed does not reflect the extended axis motion except the integrated axis one.
x Accuracy of TCP predicted speed may lower when the motor speed limit alarms are posted.
x Accuracy of TCP predicted speed may lower while the frame is being switched.

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x Accuracy of TCP predicted speed may lower while the motion is being switched between the normal
and the remote TCP motion.
x Accuracy of the TCP predicted speed may lower while one of the following instructions is being
executed:
WAIT instruction
Joint motion instruction
Motion instruction with Approach/Retract (Linear Distance) instruction
Motion instruction with Process Speed instruction
Motion instruction with Max Speed instruction
Motion control statement in KAREL program
x Up to 10 output conditions can be defined.
x Only one prediction time can be specified. Different prediction times cannot be specified among output
conditions.

28.3 SETTING UP TCP SPEED OUTPUT

To use the TCP speed output function, you must set up the output condition using the procedure 28-1.

Procedure 28-1 Setting up TCP speed output conditions

Step
1. Press MENU.
2. Select I/O.
3. Press F1, [TYPE].
4. Select TCP Speed. You will see a screen similar to the following.

TCP speed output

List 1/10
Enable Target Min (Val/Spd) Max
1 OFF AO [ 0] 0/ 0 0/ 0
2 OFF AO [ 0] 0/ 0 0/ 0
3 OFF AO [ 0] 0/ 0 0/ 0
4 OFF AO [ 0] 0/ 0 0/ 0
5 OFF AO [ 0] 0/ 0 0/ 0
6 OFF AO [ 0] 0/ 0 0/ 0
7 OFF AO [ 0] 0/ 0 0/ 0
8 OFF AO [ 0] 0/ 0 0/ 0
9 OFF AO [ 0] 0/ 0 0/ 0
10 OFF AO [ 0] 0/ 0 0/ 0

[ TYPE ] SETUP DETAIL ON OFF

5. Press F2, SETUP. You will see a screen similar to the following.

TCP speed output

Setup 1/1
1 Prediction time (msec) : 0

[ TYPE ] LIST

6. Set the value for Prediction time.

7. Press F2, LIST. You will see a screen similar to the following.

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28. TCP SPEED OUTPUT B-83284EN-2/04

TCP speed output

List 1/10
Enable Target Min (Val/Spd) Max
1 OFF AO [ 0] 0/ 0 0/ 0
2 OFF AO [ 0] 0/ 0 0/ 0
3 OFF AO [ 0] 0/ 0 0/ 0
4 OFF AO [ 0] 0/ 0 0/ 0
5 OFF AO [ 0] 0/ 0 0/ 0
6 OFF AO [ 0] 0/ 0 0/ 0
7 OFF AO [ 0] 0/ 0 0/ 0
8 OFF AO [ 0] 0/ 0 0/ 0
9 OFF AO [ 0] 0/ 0 0/ 0
10 OFF AO [ 0] 0/ 0 0/ 0

[ TYPE ] SETUP DETAIL ON OFF

NOTE
Each line in this screen indicates the status of one output condition.

8. Move the cursor to an output condition that you want to set up, and press F3, DETAIL. You will see a
screen similar to the following.

TCP speed output

TCP_SPD[1] 1/6
1 Enable: OFF
2 Target: AO [ 0]
3 Min. value: 0.000
4 Max. value: 0.000
5 Min. speed (mm/sec): 0.000
6 Max. speed (mm/sec): 0.000

[ TYPE ] LIST ON OFF

9. Move the cursor to Target and select the output target.

10. Move the cursor to each item and set the value.
11. To start the output, set Enable to ON.

NOTE
You can also set Enable and Target by using an instruction. Refer to Procedure
28-2 for more information.

12. Press F3, LIST. You will see a screen similar to the following.
TCP speed output
List 1/10
Enable Target Min (Val/Spd) Max
1 ON AO [ 0] 100/ 10 4095/2000
2 OFF AO [ 0] 0/ 0 0/ 0
3 OFF AO [ 0] 0/ 0 0/ 0
4 OFF AO [ 0] 0/ 0 0/ 0
5 OFF AO [ 0] 0/ 0 0/ 0
6 OFF AO [ 0] 0/ 0 0/ 0
7 OFF AO [ 0] 0/ 0 0/ 0
8 OFF AO [ 0] 0/ 0 0/ 0
9 OFF AO [ 0] 0/ 0 0/ 0
10 OFF AO [ 0] 0/ 0 0/ 0

[ TYPE ] SETUP DETAIL ON OFF

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B-83284EN-2/04 28. TCP SPEED OUTPUT

NOTE
You can set Enable for each output condition on this screen.

28.4 TCP SPEED OUTPUT INSTRUCTION

You can set the Enable and Target of TCP speed output function by using an instruction.
The following instruction is used to start the output.

Target type[number]=(TCP_SPD[output condition number])

The following instruction is used to terminate the output.

Target type[number]=constant value

Procedure 28-2 directs how to insert the TCP speed output instruction for a register type target.

Procedure 28-2 Inserting TCP speed output instruction

Step
1. Open the program edit screen.
2. Press NEXT.
3. Press F1, [INST]. The following menus are displayed.

Instruction 1 Instruction 2 Instruction 3

1 Registers 1 Skip 1 Tool_Offset
2 I/O 2 Payload 2 LOCK PREG
3 IF/SELECT 3 Offset/Frames 3 MONITOR/MON. END
4 WAIT 4 Multiple control 4 String
5 JMP/LBL 5 Program control 5 DIAGNOSE
6 CALL 6 MACRO 6
7 Miscellaneous 7 FOR/ENDFOR 7
8 --next page-- 8 --next page-- 8 --next page--

4. Select Registers. The following menu is displayed.

REGISTER statement 1
1 ...=...
2 ...=...+...
3 ...=...-...
4 ...=...*...
5 ...=.../...
6 ...=...DIV...
7 ...=...MOD...
8 ...=(...)

5. Select =(...). The following menus are displayed.

Mixed Logic 1 Mixed Logic 2

1 DO[ ] 1 PR[i,j]
2 R[ ] 2 UO[ ]
3 F[ ] 3 RO[ ]
4 GO[ ] 4 TIMER[ ]
5 SO[ ] 5
6 AO[ ] 6
7 Parameter name 7
8 --next page-- 8 --next page--

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28. TCP SPEED OUTPUT B-83284EN-2/04

6. Select R[ ].
1/2
1: R[...]=(...)
[End]

DIRECT INDIRECT [CHOICE] [LIST]

7. Set the register number for the output. The following menus are displayed.

Mixed Logic 1 Mixed Logic 2 Mixed Logic 3 Mixed Logic 4

1 ( 1 Constant 1 Parameter name 1 RI[ ]
2 DI[ ] 2 GI[ ] 2 AR[ ] 2 RO[ ]
3 DO[ ] 3 GO[ ] 3 TIMER[ ] 3 TCP_SPD[ ]
4 R[ ] 4 SI[ ] 4 TIMER_OVERFLOW 4
5 F[ ] 5 SO[ ] 5 PR[ ] 5
6 On 6 AI[ ] 6 UI[ ] 6
7 Off 7 AO[ ] 7 UO[ ] 7
8 --next page-- 8 --next page-- 8 --next page-- 8 --next page--

8. Select TCP_SPD[].

1/2
1: R[1]=(TCP_SPD[...])
[End]

<INSERT> DIRECT INDIRECT [CHOICE]

9. Set the output condition number.

1/2
1: R[1]=(TCP_SPD[1])
[End]

<INSERT>

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