ID : 5779

Dps

Function

Convert the rotation speed (deg/s) of the designated axial number to the ratio (%) relative to the maximum internal speed in PTP motion.

If you do not specify the axial number, the rotation speed (deg/s) is converted to the ratio (%) relative to the maximum internal speed in CP motion.

Syntax

Dps([Axis number, ]Rotation speed)

Guaranteed entry

Axis number: Designate an axis number by Integer Type data within the range of 1 to 8. This is an optional value. When this is omitted, the internal speed value (%) in CP motion is returned.
Rotation speed: Designate the rotation speed (unit: deg/s) by single precision real number type data.

Return value

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

Description

Convert the rotation speed (deg/s) of the designated axial number to the ratio (%) relative to the maximum internal speed in PTP motion.

If you do not specify the axial number, the rotation speed (deg/s) is converted to the ratio (%) relative to the maximum internal speed in CP 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.

Related Terms

Speed, Rpm, Mps, Robot Speed

Attention

Example

Sub Sample_DPS

  TakeArm Keep = 1

  'Move by 50 degrees per second (when in the rotary motion)
  Move L, P[10], Speed = Dps( 50 )

  'Move the first axis by 50 degrees per second
  DriveA ( 1, F[10] ), Speed = Dps( 1, 50 )

End Sub

ID : 5779

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