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8
DRIVEI 8-55
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DRIVEI
Option types
●
Speed setting
Format
1. SPEED=expression
2. S=expression
Values
expression
..............................1 to 100 (units: %)
Explanation
The program's movement speed is specified by the <
expression
>.
The actual speed is as follows:
• Robot's max. speed (mm/sec, or deg/sec) × automatic movement speed (%) ×
program movement speed (%)
This option is enabled only for the specified DRIVEI statement.
SAMPLE
DRIVEI(1,10000),S=10 ·········· The axis 1 of robot 1 moves from
its current position to the +10000
pulses position at 10% of the program
movement speed.
Format
1. DSPEED=expression
2. DS=expression
Values
expression
..............................0.01 to 100.00 (units: %)
Explanation
The axis movement speed is specified as an <
expression
>.
The actual speed is determined as shown below.
• Robot's max. speed (mm/sec, or deg/sec) × axis movement speed (%)
This option is enabled only for the specified DRIVEI statement.
• Movement always occurs at the DSPEED <
expression
> value (%) without being
affected by the automatic movement speed value (%).
SAMPLE
DRIVEI(1,10000),DS=0.1 ········ The axis 1 of robot 1 moves from its
current position to the +10000 pulses
position at 0.1% of the maximum speed.
NOTE
•
This defines the maximum
s p e e d , a n d d o e s n o t
g u a r a n t e e t h a t a l l
movement will occur at
specified speed.
NOTE
•
SPEED option and DSPEED
option cannot be used
together.
Содержание SCARA YRCX Series
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Страница 27: ...Chapter 2 Constants 1 1 Outline 2 1 2 2 Numeric constants 2 1 3 3 Character constants 2 2 ...
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Страница 61: ...Chapter 5 Multiple Robot Control 1 1 Overview 5 1 2 2 Command list with a robot setting 5 2 ...
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Страница 489: ...Chapter 13 Appendix 1 1 Reserved word list 13 1 2 2 Changes from conventional models 13 3 ...
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