ID : 3848

Rpm

Function

To convert the rotation speed (rpm) of the designated axial number to the ratio relative to the maximum internal speed in PTP motion.

Syntax

Rpm(axis number, rotation speed)

Guaranteed Entry

Axis number: Designate an axis number from 1 to 8 by integer type data.
Rotation speed: Designate the rotation speed (unit: rpm) by single precision real number type data.

Return Value

Return the internal speed value by single precision real number type data.

Description

The rotation speed (rpm) of the designated axial number is converted to the ratio relative to the maximum internal speed in PTP motion. The meaning of this value differs whether the target axis is a rotary axis or a linear axis, as shown below.

For rotary axis	This value shows the percentage between 0 to 100. The maximum internal speed corresponds to 100%. The return value may exceed 100% depending on the argument.
For linear axis	This value shows the ratio between 0.0 to 1.0. The maximum internal speed corresponds to 1.0. The return value may exceed 1.0 depending on the argument.

Calculation is on the assumption that the external speed is 100%.

When the rotation axis is designated, the rotation speed refers to rotation speed of the output step, while it indicates the rotation speed (motor rotation speed) of the input step in case of a linear motion axis.

To move a desired axis with a specified rotation speed, specify an axis by Drive or DriveA command, and then specify the return value of this syntax in Speed option. (see the example below. This is applicable to a robot axis.)

Attention

It can be used in combination with Speed option for other operating command. In this case, create an arm group that includes only one axis and operate it. If two or more axes move together, an axis in which the rpm is specified may not move as you intended.

Example

'!TITLE "Converting Rotation Speed (rpm) of the Designated Axial Number to Ratio (%) Relative to 
Maximum Internal Speed in PTP Motion"
' Move the 7th-axis that is set as a rotary axis at 10 rpm.
Sub Sample_Rpm
  TakeArm 1
  
  ' Put the axis 7 into motion at the maximum speed of 10 rpm
  Drive (7, 100), Speed=Rpm(7, 10)

End Sub