Difference between revisions of "MC-Basic:robot.VELOCITYROT"
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Revision as of 07:21, 19 March 2014
Defines the rotation (orientation) velocity of the robot. Together with VTRAN, defines to 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 VELOCITYMAXROT. The system always takes a smaller of the two with a notification message sent to the user.
Short form
<ROBOT>.vrot
Syntax
<ROBOT>.vrot=<numeric expression>
Availability
Versions 4.2.x and higher
Type
Double
Range
0.1to Maxdouble
Units
deg/sec
Default
4e3
Scope
Configuration, Task, Terminal
Limitations
Read/Write, Modal/Nodal
Examples
vrot = 6000