ID : 3644

EncMotionAllowJnt

Function

With Move @E, to change the "Allowable angle in stop state" of the axis for other than robots' axis used for stop judgement.

Syntax

EncMotionAllowJnt True/False, axis number, allowable angle[, Mode = mode value]

Guaranteed Entry

True/False: Enable/Disable the servo lock by an integer type data.
To enable this command, enter True or an integer other than 0.
To disable this command, enter False or 0.
In case of True, it is changed to the designated allowable angle.
Axis number: Designate an axis number by integer type data.
Allowable angle: Designate an allowable angle by single precision real number type data.
In case of "False," no designation is needed.
Mode value: When Mode=0 is designated, the allowable angle is designated by angle [deg]/distance [mm]. When Mode=1 is designated, the allowable angle is designated by pulse width. In case of "True," it can be omitted. This should be Mode=0 if this is omitted. In case of "False," no designation is needed.

Description

In Move @E, it judges whether the encoder value of each axis has reached to the target position. Allowable angle used for the judgement can be changed. The target of this command is the axis (extended-joint) other than robots.
Designating A [deg]/[mm] for allowable angle in Mode=0, it is judged that all axes have reached to the target position if the linear motion axis is positioned within A [mm] of the target position and if the rotation axis is positioned within A [deg] of the target position.
In case of Mode=1, if the all axes are positioned within A [pulse], it is judged that they have reached to the target position.
If False is designated forTrue/False , the designated value of allowable angle is ignored and returned to the default (initial value).
To execute this statement, the task must acquire target axis control.

Related Terms

Pass Start Displacement, EncMotionAllow

Attention

This function will start working after the command position reaches to the target position. Therefore, if you set the allowable angle to the value above a certain level, it is regarded that "@[0]" is designated for pass start displacement.
Due to the detection/operation period of the encoder value in the system, there may be an error caused by the use condition. Take this designated value as just a suggestion.

Example

'!TITLE "Setting of Allowable Angle in Stop State for Axis"
' Setting of allowable angle in stop state for designated axis
Sub Sample_EncMotionAllowJnt

  TakeArm Keep = 0

  ' Set allowable angle in stop state in 0.00001 degrees for axis 1
  EncMotionAllowJnt True, 1, 0.00001

  ' Set allowable angle in stop state for axis 1 to be disabled
  EncMotionAllowJnt False, 1

  ' Set allowable angle in stop state in 1 degree for axis 2
  EncMotionAllowJnt True, 2, 1, Mode = 1

  ' Set allowable angle in stop state for axis 2 to be disabled
  EncMotionAllowJnt False, 2

End Sub

ID : 3644

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