[ht133magnolia]

Hello,

How do I keep the robot's TCP speed constant at 5mm/s for a certain program? Also, for such program, how do I add approach and retract sub-programs?

Please refer to the attached picture.

   

[Albert]

You should add a set speed instruction to specify the speed you would like to maintain.

You can create other programs that move to the approach and retract position before running the path program. I recommend you to take a look at this getting started guide which cover the basics of running programs and subprograms, and also moving to approach targets:
https://robodk.com/doc/en/Getting-Started.html

[ht133magnolia]

Is it possible to set speed instructions when the TCP is moving from one target to another? In this scenario the distance between the two targets is large so I see the robot accelerating sharply during transition.

[Borgis1]

Lookup acceleration/deceleration from the manual of the robot. Different vendors, different tags.