OLRate Method

Description
Returns overload rating for one joint for the current robot.

Syntax
Function OLRate (JointNumber As Integer) As Single

Parameters

• JointNumber
  An integer indicating the axis number (range: 1 to number of joints of the robot)

Return Value
Returns the OLRate for the specified joint. Values are between 0.0 and 2.0.

Remarks
OLRate can be used to check whether a cycle is causing stress on the servo system. Factors such as temperature and current can cause servo errors during applications with high duty cycles. OLRate can help to check if the robot system is close to having a servo error.

During a cycle, run another task to command OLRate. If OLRate exceeds 1.0 for any joint, then a servo error will occur.

Servo errors are more likely to occur with heavy payloads. By using OLRate during a test cycle, you can help insure that the speed and acceleration settings will not cause a servo error during production cycling.

To get valid readings, you must execute this method while the robot is moving.

This method will not be used in proper payloads state.

OLRate Example
VB Example:

Dim data As Single  
data = m_spel.OLRate(1)  

C# Example:

float data;  
data = m_spel.OLRate(1);