MC-Basic:robot.VELOCITYFINALTRANS

Defines the final translation velocity of the robot. Together with VFROT, defines the final velocity of a Cartesian motion. If the velocity is non-zero then the other final velocity (VFROT) 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 VELOCITYMAXTRANS. The system always takes the smaller of the two with a notification message sent to the user.

Short form

<ROBOT>.vftran

Syntax

<ROBOT>.vftran=<numeric expression>

Availability

Versions 4.2.x and higher

Type

Double

Range

0.1 to Maxdouble

Units

mm/sec

Default

0

Scope

Task, Terminal

Limitations

Write, Nodal Only

Examples

MoveS Scara #{10,20,30,0} vftran=600

See Also

• CIRCLE
• MOVES
• robot.VELOCITYTRANS