JSPEED
(Statement)
Specifies the internal speed of individual joints included in a currently held arm group.
JSPEED <Movement speed>
The <JointSpeedRatio> should be the target ratio (%) of the maximum internal speed of individual joints in a currently held arm group. The entry range is from 0.1 to 100 of a real number.
If less than 0.1 is specified, no error will occur, but the actual speed may differ from the specification. If 0 or less is specified, an error will result.
The actual speed value is (external × internal / 100).
If JSPEED is set, then JACCEL and JDECEL are also changed.
Example: If you write JSPEED 50, the following will be set automatically:
JACCEL 25 (JSPEED*JSPEED / 100)
JDECEL 25 (JSPEED*JSPEED / 100)
If you write JSPEED without getting any arm group beforehand, an error will result.
Ex1
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DIM li1 As Integer
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JSPEED 100
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'Sets the movement speed of an axis to 100.
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JSPEED li1/100
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'Sets the movement speed of an axis
'to the value of (li1/100).
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Ex2(extended-joint)
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PROGRAM PRO1
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TAKEARM 1
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'Get Arm Group 1 (involving 7th and 8th joints).
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JSPEED 100
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'Specify speed of joints (7th and 8th) involved
'in Arm Group 1.
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END
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