OKM Hermes, User Manual, Page: 132 / 140

Hermes Robot User Manual
104 Document Version V3.0(01-11-2023)
(1) profile speed = 100%, system speed = 100%, robot
speed = 100%, then 100%*100%*100% = 100%; at this time,
the fastest speed of the robot joint movement is 3000 rpm.
(2) profile speed = 200%, system speed = 50%, robot speed
= 100%, then 200%*50%*100% = 100%; at this time, the
fastest speed of the robot joint movement is 3000 rpm.
6.8.3 Speed adjustment during motion
Method of adjusting the speed of a certain point in the process of robot
motion (send a macro instruction):
Step 1
Enter Profile [profileName] = [Speed, Speed2, Accel, Decel, AccelRamp,
DecelRamp, InRange, Type, Time,BlendType,BlendValue] in the
instruction editing area on the macro language interface to create a
new name of robot speed and assign values to its parameters.
profileName is the name of objects for motion parameters.
Speed/Speed2/Accel/Decel/AccelRamp
/DecelRamp/InRange/Type/Time/BlendType/BlendValue
respectively represents the information on speed. For
details about parameters, please refer to the "QKM Robot
Instruction Manual". (If one of the parameters is not