TCSpeed Statement

Specifies the speed limit in the torque control.

Syntax
TCSpeed [speed]

Parameters

speed

Specify the proportion to the maximum speed (an integer from 1 to 100 / unit: %) as an expression or numeric value.

Description
Under the torque control, the speed is limited to the TCSpeed setting despite of the speed settings of such as Speed command.

Error occurs if the speed goes over the limit in the torque control.

In any of the following cases, TCSpeed set value is initialized to 100%.

• Controller Startup
• Motor On
• SFree, SLock, Brake
• Reset, Reset Error
• Task end by STOP switch or Quit All

See Also
TC, TCLim, TCSpeed Function

TCSpeed Statement Example

Speed 5
Go ApproachPoint

'Set the Z axis torque limit to 20
TCLim -1, -1, 20, -1
'Set the speed under the torque control to 5%, the same as the Speed
TcSpeed 5

TC On
Go TargetPoint
Wait 3
Go ApproachPoint
TC Off

Notes

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• When a position error detected on Safety Board mounted controller

  Change the program so that “current position of the robot” and “current target position of the robot” are not far apart.

  Speed limiting using TCSpeed makes a gap between “current position of the robot” and “current target position of the robot”. Do not use TCSpeed, or if you want to use it, be sure that the value is the same as Speed.

  If they are far apart, the Safety Board detects failure, and “Erorr No.9801 Detected a position error by the Safety Board.” error occurs. (Only for controllers mounting the Safety Board.)

  For more details, refer to TC Statement.

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