4.1.5. Joint speed
4.1.5. Joint speed
Joint speed is limit value for monitoring each joint speed. These parameters are monitored when the monitoring is activated. If the joint speed exceeds limit value, STO will be triggered. Joint speed parameters contain maximum speed and reduced speed when reduced mode is activated.
Figure 4.5 Joint speed
Table 4‑5 Joint speed parameters
Joint speed parameter: 8 Joints | ||
Parameter name | Value | Description |
Monitoring | On/Off | Off=Joint speed monitoring is deactivated On= Joint speed monitoring is activated Default: Off |
Reduced speed (remote/auto mode) | 1~5,000(°/s) or 1~10,000(mm/s) | Safe reduced speed in remote/auto mode. Default: 5,000(°/s) or 10,000 mm/s |
Reduced speed (manual mode) | 1~100(°/s) or 1~250(mm/s) | Safe reduced speed in manual mode Default: 100(°/s) or 250 mm/s |
Maximum speed of rotation joint | 1~5,000(°/s) | Maximum joint speed Default: 1,000 |
Maximum speed of translation joint | 1~30,000(mm/s) | Maximum joint speed Default: 5,000 |
