Difference between revisions of "MC-Basic:robot.VELOCITYFINALROT"
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Revision as of 16:10, 13 December 2010
Defines the final rotation velocity of the robot. Together with VFTRAN, defines to final velocity of a Cartesain motion. If the velocity is non-zero, the other final velocity (VFTRAN) must be also non-zero. This value is used only in two motion commands: MOVES and CIRCLE. In joint interpolated movements (MOVE), this value is ignored. The group must be defined with a robot model (model !=1). The value cannot be greater than VELOCITYMAXROT. The system always takes the smaller of the two with a notification message sent to the user.
Short form
<ROBOT>.vfrot
Syntax
<ROBOT>.vfrot=<numeric expression>
Availability
Versions 4.2.x and higher
Type
double
Range
0.1-maxdouble
Units
deg/sec
Default
0
Scope
Task, Terminal
Limitations
Write, Nodal only
Examples
MoveS Scara #{10,20,30,0} vfrot = 6000