MC-Basic:robot.VELOCITYTRANS

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

0.1to Maxdouble

Units

Mm/sec

Default

1000

Scope

Configuration, Task, Terminal

Limitations

R/W, Modal/Nodal

Examples

vtran = 6000

See Also

• CIRCLE
• MOVES
• robot.VELOCITYMAXTRANS
• robot.VELOCITYROT