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ID : 6794
Motion Statements
Motion statements refer to statements to change motion-related parameters.
The next statement is not immediately executed during a motion instruction, until issuance of the next instruction. If pass start displacement is designated, it is executed at the time designated by pass start displacement.
| Statement name | Function |
|---|---|
| Speed | To change the internal speed. |
| Accel | To specify the internal acceleration and internal deceleration. |
| Decel | To specify the internal deceleration. |
| ChangeWork | To change the current work coordinates. |
| ChangeTool | To change the current tool coordinates. |
| Tool | To set a tool coordinate value. |
| Work | To set work coordinates. |
| CurLmt | To configure the current limiting function and True/False. Waiting for the robot to stop when the funcition is Off. |
| Eralw | To configure the deviation tolerance function and True/False. |
| GrvCtrl | To operate True/False of gravity compensation control function. |
| TakeArm Keep=0 | To acquire axis control. TakeArm Keep=1 does not wait for execution. |
Even when execution of the next statement is attempted in the was of a motion instruction, it is suspended until the command position reaches to the target position.
| Statement name | Function |
|---|---|
| Payload | To change setting value of internal load condition. |
| SpeedMode | To change the optimal speed setting function. |
| GiveArm | To expressly release control of the currently-acquired arm group. |
Even when execution of the next statement is attempted in the way of a motion instruction, it is suspended until the encoder value reaches to the target position.
| Statement name | Function |
|---|---|
| GrvOffset | To operate True/False of gravity offset setting function. |
ID : 6794