TCPSpeed Function

Returns the calculated current tool center point (TCP) speed.

Syntax
TCPSpeed

Return Values
Real value containing the calculated current tool center point speed in mm/second.

Description
Use TCPSpeed to get the calculated current speed of the tool center point in mm/second when executing a CP (Continuous Path) motion command.

CP motion commands include Move, TMove, Arc, Arc3, CVMove, and Jump3CP. This is not the actual tool center point speed. It is the speed that the system has calculated for the tool center point at the time the function is called.

The actual follow-up delay of the motor has been excluded from this value. If the robot is executing a PTP (Point to Point) motion command, this function returns “0”.

Even if you are using the additional axis, only the robot travel distance is returned. For example, it doesn’t include the travel speed of additional axis while you use the additional axis as running axis.

See Also
AccelS, CurPos, InPos, SpeedS

TCPSpeed Function Example

Function MoveTest
AccelS 4000, 4000
SpeedS 200
Xqt ShowTCPSpeed
Do
  Move P1
  Move P2
Loop
Fend

Function ShowTCPSpeed
  Do
    Print "Current TCP speed is: ", TCPSpeed
    Wait .1
  Loop
Fend