ST_aspChange (Statement) [Version 1.9 or later]


Selects the internal mode for proper control setting of motion optimization.


ST_aspChange <Mode>


This statement switches the mode for control setting of motion optimization.
<Setting value>
0 → Invalid
1 → Valid only for PTP
2 → Valid only for CP
3 → Valid for both PTP and CP.
It takes about 0.1 sec. to switch the load condition values. Frequently switching the load condition may cause operational delays. Do not change the mode during pass motion, near an obstacle because the path locus may shift.
This may delay switching if you change the load condition values.


Refer to the Programmer's Manual, "4.7 Control Set of Motion Optimization in User Preferences."


For <Mode>, designate it with a numerical value between 0 and 3. If it is out of this range, the error message "6003 Excess in effective value range" will be displayed.


ST_aspChange 1
'Sets the internal mode in the control sets of
'motion optimization to 1.


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