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ID : 217

SpeedMode

Function

To change the optimal speed setting function.

Syntax

SpeedMode mode number

Guaranteed Entry

Mode number
Designate a mode number of the Optimal Speed Control Function by integer type data.
Refer to "Optimal Speed Control Function" of FUNCTION GUIDE.

Description

The optimal speed setting function is changed.

To execute this command, the task must acquire robot axis control.

Related Terms

Setting the Reduced Ratios of the Programmed Speed, Acceleration, and Deceleration, Motion Statements

Attention

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

Example

'!TITLE "Setting of Optimal Speed Setting Function"
' Move in optimal speed setting function mode 1
Sub Sample_SpeedMode

  Dim aaa As Joint
  Dim bbb As Position
  Dim ccc As Position
  Dim ddd As Position

  TakeArm Keep = 1

  aaa = J( 0, 45, 90, 0, 45, 0 )

  ' Assign a value of aaa converted into position type data to bbb
  bbb = J2P( aaa )

  ' Assign a value added P( 0, -30, 0, 0, 0, 0 ) to bbb to ccc
  ccc = Dev( bbb, P( 0, -30, 0, 0, 0, 0 ) )

  ' Assign a value added P( 0, 65, 0, 0, 0, 0 ) to ddd to ddd
  ddd = Dev( ccc, P( 0, 65, 0, 0, 0, 0 ) )

  CpMode 0

  ' Set to optimal speed setting function mode 1
  SpeedMode 1

  ' Set the external speed setting value to 100
  ExtSpeed 100

  ' Move from the current position to the ccc coordinate position
  Move P, @E ccc

  ' Move from current position to coordinate position of ddd at internal speed 100,
 internal acceleration 100 and internal deceleration 100
  Move L, @E ddd, Speed = 100, Accel = 100, Decel = 100

  ' Reset to initial status
  CpMode 1 

End Sub

ID : 217

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