Difference between revisions of "MC-Basic:robot.VELOCITYFINALROT"

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Latest revision as of 02:17, 27 April 2017

Language: English  • 中文(简体)‎

Defines the final rotation velocity of the robot. Together with VFTRAN, defines to final velocity of a Cartesain motion. If the velocity is non-zero, the other final velocity (VFTRAN) 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 VELOCITYMAXROT. The system always takes the smaller of the two with a notification message sent to the user.

Short form

<ROBOT>.vfrot

Syntax

<ROBOT>.vfrot=<numeric expression>

Availability

Since Version 4.2.x

Type

double

Range

0.1-maxdouble

Units

deg/sec

Default

0

Scope

Task, Terminal

Limitations

Write, Nodal only

Examples

MoveS Scara #{10,20,30,0} vfrot = 6000

See Also