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ID : 7364

MC_SetSpeedMode

To set the optimal speed setting function.

Graphic expression AOI category
Motion

Input and Output Variable

Variable name Data type Valid range Conditions for Input and Output
AxesGroup eRC_AxesGroup -
Robot group
Specify a robot variable (structured type data : eRC_AxesGroup) of user-defined type.

Input Variable

Variable name Data type Valid range
Execute Boolean
  • TRUE : Start
  • FALSE : -
Execution start
When the variable is changed from FALSE to TRUE, this AOI is executed.
ModeNo Integer 0 to 3
Mode number
Specify a mode number of the optimal speed control function.
For details, refer to Function description.

Output Variable

Variable name Data type / Description
Done Boolean
Execution completion confirmation
TRUE : This AOI execution is completed.
FALSE : This AOI execution is not completed.
Busy Boolean
Processing status of this AOI
TRUE : Being executed.
FALSE : Not being executed.
Error Boolean
Error presence
TRUE: This AOI ended abnormally.
FALSE : This AOI ended successfully.
ErrorID Integer
Error location
2800 : The error occurred in the PLC program.
2801 : The error occurred in the robot controller.
ErrorIDEx DInt
Error Code
This is a number to identify the error description.
For details, refer to "Error code list".

Function Description

This function sets proper speed and acceleration according to the mass of payload and the posture of the robot. Four control sets of motion optimization are available for selection as listed in the table below.

Mode number Description
PTP motion CP motion
0 Set the maximum speed and maximum acceleration of PTP motion according to the robot load condition value. Set the maximum speed and maximum acceleration of CP motion according to the robot load condition value.
1 Set the maximum speed and maximum acceleration for the axes in PTP motion according to the load condition value of the robot and the robot posture in motion. Same as control set 0
2 Same as control set 0 Set the maximum speed and maximum acceleration for the axes in CP motion according to the load condition value of the robot and the robot posture in motion.
3 Same as control set 1 Same as control set 2

When mode 1, 3 are specified on XR/ SC robots or MC8, mode 0, 2 will be set respectively.

Attention

To execute this AOI, AOI with the AOI category "Motion" needs to be made executable.
To make AOI with the AOI category "Motion" executable, use the AOI "MC_Power".

ID : 7364

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