Difference between revisions of "MC-Basic:robot.VELOCITYFINALTRANS"
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Revision as of 17:12, 20 March 2014
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
Since Version 4.2.x
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