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ID : 5074

CrtMotionAllow

Function

Change the stop positional precision and postural precision settings of Move@c command.

Syntax

CrtMotionAllow True/False [, positional precision  [, postural precision ]]

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.
CtrMotionAllow command is enabled when this entry is "True".
Positional precision
Designate positional precision by single precision real number type data.
When "True" is selected, this entry is compulsory input.
You do not need to enter when "False" is selected.
Postural precision
Designate figure accuracy by single precision real number type data.
When "True" is selected, this entry is omittable.
You do not need to enter when "False" is selected.

Description

  • Change the stop positional precision and postural precision settings of Move@c command. The allowable angle setting in stop state is changed.
  • If the figure accuracy is set to A[mm] and the postural precision is set to B[deg], it is considered that the robot arm reached the target position when all of X-axis, Y-axis and Z-axis come within A[mm] of the target position, and all of the rotation angle around the X-, Y- and Z axes come within B[deg] of the target position.
  • Return to the initial settings when "Invalid" is selected. Initial settings of stop positional accuracy and figure accuracy are 0.1mm and 0.1deg respectively.
  • To execute this command, the task must acquire any axis control.

Related Terms

Pass Start Displacement, EncMotionAllowJnt ,EncMotionAllow

Attention

  • This function starts running when the command position reaches the target position.
    Therefore, if the figure accuracy and postural precision are set to larger number than the certain values, the robot moves same way as when the pass start displacement is set to "@[0]".
  • Due to the detection and arithmetic calculation period for the encoder value within the system, an error may occur depending on the usage condition.Consider a value designating here is only as a guide.

Example

'!TITLE "Change settings of stop positional accuracy and figure accuracy in Move@C"
'Change settings of stop positional accuracy and figure accuracy in Move@C
Sub Main 
	TakeArm Keep = 0
	' Declare position coordinates of J1 and J2 (J type variables)
	J1 = J( 45, 45, 90, 0, 45, 0 )
	J2 = J( -45, 45, 90, 0, 45, 0 )
	
	' Move to the starting position
	Move P, @E J1
	
	' Change the setting
	CrtMotionAllow True, 1, 1
	
	'  Move to J2 with encoder value check motion
	Move P, @C J2
	
	' Return to the Initial value	
	CrtMotionAllow False
	
End Sub

ID : 5074

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