ID : 405

EncMotionAllow

Function

With Move @E, to change the "Allowable angle in stop state" of each axis for robot axis used for stop judgement.

Syntax

EncMotionAllow True/False, allowable angle[, Mode = mode value]

Guaranteed entry

True/False: Enable/Disable the servo lock by an integer type data.
To enable this command, enter True or an integer other than 0.
To disable this command, enter False or 0.
In case of True, it is changed to the designated allowable angle.
Allowable angle: Designate an allowable angle by single precision real number type data.
In case of "False," no designation is needed.
Mode value: When Mode=0 is designated, the allowable angle is designated by angle [deg]/distance [mm]. When Mode=1 is designated, the allowable angle is designated by pulse width. In case of "True," it can be omitted. This should be Mode=0 if this is omitted. In case of "False," no designation is needed.

Description

Move @E judges whether the current position calculated based on an encoder value has reached to the target position. Allowable angle used for the judgement can be changed.

Designating A [deg]/[mm] for allowable angle in Mode=0, it is judged that all axes have reached to the target position if the linear motion axis is positioned within A [mm] of the target position and if the rotation axis is positioned within A [deg] of the target position.
In case of Mode=1, if the all axes are positioned within A [pulse], it is judged that they have reached to the target position.

If False is designated, it will return to the default (initial value).

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

Attention

This function will start working after the command position reaches to the target position. Therefore, if you set the allowable angle to the value above a certain level, it is regarded that "@[0]" is designated for pass start displacement.
Due to the detection/operation period of the encoder value in the system, there may be an error caused by the use condition. Take this designated value as just a suggestion.

Example

'!TITLE "Setting of Allowable Angle in Stop State for Robot Axis"
' True/False of allowable angle in stop state for robot axis
Sub Sample_EncMotionAllow

  Dim aaa As Joint
  Dim bbb As Joint
  Dim ccc As Joint
  Dim ddd As Integer

  TakeArm Keep = 1

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

  Motor True

  ' Set the external speed to 100
  ExtSpeed 100 

  Move P, @0 aaa

  ' Set allowable angle to 200 degrees of pulse width
  EncMotionAllow True, 200, Mode = 1 

  Move P, @E bbb

  Move P, @0 ccc

  ' Set allowable angle to be disabled
  EncMotionAllow False 

End Sub