Can I achieve real-time speed control use MOVEP?

General Application Help: How do I?
1

My script is as follows. I use UR5E and needs to change speed on every waypoint. But when I got TCP speed using speed = get_actual_tcp_speed() textmsg("TCP Speed: ", speed), I found the actual speed are different from the target speed even though I use a larger accel_mss (for example, the target speed is 0.019 but the actual speed may be 0.015,0.016 or 0.02). Is this right? how to exactly control the speed on every waypoint?

movep(p[-0.517287, 0.127085, -0.040110, -0.497385, -0.091463, 0.023245],accel_mss,speed_ms,0)
speed_ms= 0.014
socket_send_line(“G1 P1.0”, “socket_01”)
movep(p[-0.517999, 0.128532, -0.040803, -0.497385, -0.091463, 0.023245],accel_mss,speed_ms,0.001)
speed_ms= 0.014
socket_send_line(“G1 P1.0”, “socket_01”)
movep(p[-0.518743, 0.129959, -0.041577, -0.497385, -0.091463, 0.023245],accel_mss,speed_ms,0.001)
speed_ms= 0.015
socket_send_line(“G1 P1.0”, “socket_01”)
movep(p[-0.519365, 0.131118, -0.042319, -0.540721, -0.109104, 0.030271],accel_mss,speed_ms,0.001)
speed_ms= 0.015
socket_send_line(“G1 P1.0”, “socket_01”)
movep(p[-0.520293, 0.132615, -0.043407, -0.580746, -0.126889, 0.037975],accel_mss,speed_ms,0.001)
speed_ms= 0.016
socket_send_line(“G1 P1.0”, “socket_01”)
movep(p[-0.521024, 0.133727, -0.044299, -0.617815, -0.143469, 0.045875],accel_mss,speed_ms,0.001)
speed_ms= 0.016
socket_send_line(“G1 P1.0”, “socket_01”)
movep(p[-0.521928, 0.134983, -0.045412, -0.650371, -0.158162, 0.053456],accel_mss,speed_ms,0.001)
speed_ms= 0.017
socket_send_line(“G1 P1.0”, “socket_01”)
movep(p[-0.522787, 0.136140, -0.046534, -0.675862, -0.170250, 0.060000],accel_mss,speed_ms,0.001)
speed_ms= 0.018
socket_send_line(“G1 P1.0”, “socket_01”)
movep(p[-0.523751, 0.137378, -0.047807, -0.693713, -0.179617, 0.065136],accel_mss,speed_ms,0.001)
speed_ms= 0.018
socket_send_line(“G1 P1.0”, “socket_01”)
movep(p[-0.524739, 0.138472, -0.048999, -0.705641, -0.186872, 0.069054],accel_mss,speed_ms,0.001)
speed_ms= 0.018
socket_send_line(“G1 P1.0”, “socket_01”)
movep(p[-0.525665, 0.139524, -0.050162, -0.714106, -0.192956, 0.072252],accel_mss,speed_ms,0.001)
speed_ms= 0.018
socket_send_line(“G1 P1.0”, “socket_01”)
movep(p[-0.526680, 0.140497, -0.051298, -0.720629, -0.198357, 0.075033],accel_mss,speed_ms,0.001)

2

i would not be using moveP for variable speeds. your robot movement will be very sudden and jerky and will kill your joints super quick. that being said, safety will overrule any speed settings you have so make sure your safety settings aren’t hindering your tests.