Difference between revisions of "MC-Basic:robot.VELOCITYTRANS"
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{{MC-Basic | {{MC-Basic | ||
|SHORT FORM= | |SHORT FORM= | ||
| − | < | + | <robot>.vtran |
|SYNTAX= | |SYNTAX= | ||
| − | < | + | <robot>.vtran=<''numeric expression''> |
|AVAILABILITY= | |AVAILABILITY= | ||
| Line 10: | Line 10: | ||
|DESCRIPTION= | |DESCRIPTION= | ||
| − | Defines the translation velocity of the robot. Together with VROT, defines the cruise velocity of a Cartesian motion. 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. | + | Defines the translation velocity of the robot. |
| + | Together with VROT, defines the cruise velocity of a Cartesian motion. | ||
| + | |||
| + | 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. | ||
|TYPE= | |TYPE= | ||
| Line 16: | Line 24: | ||
|RANGE= | |RANGE= | ||
| − | 0. | + | 0.1 to Maxdouble |
|UNITS= | |UNITS= | ||
| − | + | mm/sec | |
|DEFAULT= | |DEFAULT= | ||
| Line 31: | Line 39: | ||
|EXAMPLE= | |EXAMPLE= | ||
| + | <pre> | ||
vtran = 6000 | vtran = 6000 | ||
| + | </pre> | ||
|SEE ALSO= | |SEE ALSO= | ||
Revision as of 07:33, 4 December 2011
Defines the translation velocity of the robot. Together with VROT, defines the cruise velocity of a Cartesian motion.
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>.vtran
Syntax
<robot>.vtran=<numeric expression>
Availability
Versions 4.2.x and higher
Type
Double
Range
0.1 to Maxdouble
Units
mm/sec
Default
1000
Scope
Configuration, Task, Terminal
Limitations
R/W, Modal/Nodal
Examples
vtran = 6000