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8.9.3 Speed Control Statement
A speed control statement can be used to set the movement speed, as well as
the acceleration and deceleration of the arm.
Speed Control Commands
Type of motion Command
CP control speed designation SPEED
PTP control speed designation JSPEED
CP control acceleration deceleration ACCEL
PTP control acceleration deceleration JACCEL
CP control deceleration designation DECEL
PTP control deceleration designation JDECEL
8.9.4 Time Control Statement
A time control statement executes motion control of the robot according to the
elapsed time.
Time Control Commands
Type of motion Command
Designated time stop DELAY
Conditional stop WAIT
8.9.5 Coordinate Transformation Statement
A coordinate transformation statement changes the coordinate system.
Coordinate Transformation Commands
Type of motion Command
Tool coordinate system change CHANGETOOL
Work coordinate system change CHANGEWORK
Enables interference check area SETAREA
Disables interference check area RESETAREA
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