ID : 4557

HighPathAccuracy

Function

Switch True/False of the high tracing control function.

Syntax

HighPathAccuracy True/False

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.

Description

True/False of the high tracing control function is switched.

Related Terms

Attention

The setting is valid until the controller power is turned OFF. The setting is back to the default setting when the controller is rebooted.
High precision control function is not available for Extended-joint and MC8 controller.
However, this function is available for an extended-joint which works as a conveyor axis. (Available for Version 2.5.* or higher)
If the high precision control on the robot axis is enabled, enable the high precision control function on the conveyor axis by using HighPathAccuracy command.

Example

'!TITLE "Setting of High Tracing Control Function"
' Set high tracing control to be enabled and perform motion to designated coordinates
Sub Sample_HighPathAccuracy

  Dim aaa As Joint
  Dim bbb As Position
  Dim ccc As Position

  TakeArm Keep = 1

  aaa = J( 0, 45, 90, 0, 45, 0 )

  ' Assign a value of aaa converted into point data type to bbb
  bbb = J2P( aaa )

  ' Assign a value added P(150,150,-150,0,0,0) to bbb to ccc
  ccc = Dev( bbb, P( 150, 150, -150, 0, 0, 0 ) )

  Motor True

 ' Set the external speed to 100
  ExtSpeed 100

  ' Move from the current position to the bbb coordinate position
  Move P, @0 bbb

  ' Set high tracing control to be enabled
  HighPathAccuracy True

  ' Move from the current position to the ccc coordinate position
  Move L, @0 ccc

  ' Set high tracing control to be disabled
  HighPathAccuracy False

  Motor False

End Sub

ID : 4557

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