ID : 9149

Mps

Function

To convert the designated speed value (mm/sec) to the ratio (%) relative to the maximum internal speed in CP motion.

If the axis number is not specified, the speed value (mm/sec) will be converted to the ratio (%) relative to the maximum internal speed in CP motion.

Syntax

Mps([axis number, ]speed)

Guaranteed entry

Speed: Designate the speed value (mm/sec) by single precision real number type data.

Return value

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

Description

The designated speed value (mm/sec) is converted to the ratio (%) relative to the maximum internal speed in CP motion.

If the axis number is not specified, the speed value (mm/sec) will be converted to the ratio (%) relative to the maximum internal speed in CP motion.

For a linear 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.

Calculation is on the assumption that the external speed is 100%.

The speed can be specified by the speed value (mm/sec) in combination with speed specification command "SPEED."

Attention

When the axis number is not specified, the return value of the command will be calculated from the speed at the TCP only based on the values of the robot axes.
Even if an auxiliary axis is used as a traveling shaft, the speed of the auxiliary axis will not be considered.
If this command is used with SPEED command, note that the following points.

Be careful about the input range of SPEED command. If the value entered in this Mps command is too small, the entered value might be out of the input range of SPEED command. As a result, an error might occur at the execution.
If the payload is changed, the maximum speed will be changed accordingly, that leads to the change of the return value of this command. As a result, the return value might be the outside of the input range of the SPEED command.
The acceleration is equal to the square of the speed. If too small value is specified to this command, the acceleration becomes small as well. As a result, it might fail to reach the specified speed. In this case, adjust the acceleration.

SPEED MPS(100)
ACCEL 80,80

Example

'!TITLE "Converting Specified Speed Value (mm/sec) to Ratio (%) Relative to Maximum Internal Speed 
in CP Motion"
' Set the internal traveling speed to 50 (mm/sec)
Sub Sample_Mps
  TakeArm Keep=1

  ' Travel at 50 (mm/sec)
  Move L, P[10], Speed=Mps(50)

End Sub