PeakSpeedClear Statement

Clears and initializes the peak speed for one or more joints.

Syntax
PeakSpeedClear [j1 [, j2 [, j3 [, j4 [, j5 [, j6 [, j7 [, j8 [, j9]]]]]]]]]

Parameters

j1 - j9

Specify the joint number as an integer value or an expression. If no parameters are supplied, then the peak speed values are cleared for all joints. The additional S axis is 8 and T axis is 9. If non-existent joint number is supplied, an error occurs.

Description
PeakSpeedClear clears the peak speed values for the specified joints.

You must execute PeakSpeedClear before executing PeakSpeed.

This command does not support the PG additional axes.

See Also
AvgSpeed, PeakSpeed

PeakSpeedClear Statement Example
[Example 1] The following is the example to display the speed values of specified joints after clearing the peak speed values of all joints.

> PeakSpeedClear
> Go P1
> PeakSpeed 1
    -0.273
> PeakSpeed
    -0.273    -0.164
    -0.080     0.258
    -0.005     0.401
     0.000     0.000
     0.000
>

[Example 2] The following is the example to display the peak speed values of specified joints after clearing the peak speed values of J1, J4, and J5 for the vertical multi-axis robots.

> PeakSpeedClear 4, 1, 5
> Go P1
> PeakSpeed 1
     -0.273
> PeakSpeed 4
     0.258