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8-148 Chapter 8 Robot Language Lists
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PATH
Option types
●
Speed setting
Linear interpolation
Circular interpolation
Format
1.
SPEED =expression
2.
S =expression
Values
expression
..............................1 to 100 (units: %)
Explanation
The program's movement speed is specified as the <
expression
> value (units: %).
The actual speed is determined as shown below.
• Robot's max. speed (mm/sec) × automatic movement speed (%)× program
movement speed (%).
This option is enabled only for the specified PATH statement.
SAMPLE
PATH L,P5,S=40 ················ Movement of robot 1 from its current
position to the position specified by P5
occurs at 40% of the program movement
speed.
Format
VEL =expression
Values
expression
.............................. The permissible setting range varies according to the
robot type (units: mm/sec).
Explanation
The movement speed is specified by the <
expression
> value (units: mm/sec). An
error will occur if the speed is too fast.
This command is enabled only for the specified PATH statement.
SAMPLE
PATH L,P10,VEL=150 ············ Movement of robot 1 from its current
position to the position specified by P10
occurs at a speed of 150mm/sec.
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
•
This option specifies only
the maximum composite
s p e e d a n d d o e s n o t
guarantee movement at
the specified speed.
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 489: ...Chapter 13 Appendix 1 1 Reserved word list 13 1 2 2 Changes from conventional models 13 3 ...
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