ID : 3689

CPMode

Function

Change CP interpolation mode setting.

Syntax

CPMode setting value

Guaranteed Entry

Setting value: Designate a setting value by integer type data.
0: Trajectory generation with putting priority on posture components.
1: Trajectory generation with putting priority on position components. (Default)

Description

Change CP interpolation mode setting.

Related Terms

Attention

Acquisition of axis control of the robot is required.
If the setting value is set to "0", the robot motion and speed can be changed.

Example

'!TITLE "Setting of CP Interpolation Mode"
' Set CP interpolation mode to 0
Sub Sample_CpMode

  TakeArm Keep = 1
  
  ' Set CP interpolation mode to 0
  CpMode 0

End Sub

ID : 3689

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