OLRate Function

Returns overload rating for one joint for the current robot.

Syntax
OLRate(jointNumber)

Parameters

jointNumber

Specify the joint number from as an integer from 1 to 9. Additional S axis is 8 and T axis is 9.

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

Description
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 OLRate while the robot is moving.

This statement is unnecessary at proper load operation.

See Also
OLRate

OLRate Function Example

Function main
  Power High
  Speed 50
  Accel 50, 50
  Xqt 2, MonitorOLRate
  Do
    Jump P0
    Jump P1
  Loop
Fend

Function MonitorOLRate
  Integer i
  Real olRates(4)
  Do
    For i = 1 to 4
      olRates(i) = OLRate(i)
      If olRate(i) > .5 Then
        Print "Warning: OLRate(", i, ") is over .5"
      EndIf
    Next i
  Loop
Fend