ROTOK Function

Returns whether an ROT modifier parameter can be added when issuing a motion command to a destination.

Syntax
ROTOK (destination coordinates)

ROTOK (reference coordinates, destination coordinates)

Parameters

destination coordinates

Specify the destination coordinates in point data to check whether an ROT modifier parameter can be added.

reference coordinates

Specify the reference coordinates in point data to check whether an ROT modifier parameter can be added.

Return Values
Returns “True” if an ROT modifier parameter can be added, and “False” if not.

Notes

---

• About the Controllers to use

  It cannot be used with T/VT series.

---

Description
Checks whether an ROT modifier parameter can be added before actually moving the robot.

An ROT modifier parameter is a parameter that can be added to Move and other linear interpolation motion commands to prioritize acceleration/deceleration in favor of tool rotation.

The ROTOK function determines whether an error will occur when adding an ROT parameter to Move and other linear interpolation motion commands from the reference coordinates to the destination before moving the robot.

If the reference coordinates are omitted, the result returned will be determined based on the current position (Here).

An error will occur when adding an ROT modifier parameter with a rotation angle of “0”, or a small rotation angle. This function determines such an error. Note, however, that it cannot determine whether the robot joint speed and joint acceleration limits have been exceeded during motion (error 4242, etc.). If this occurs, reduce values for SpeedS, SpeedR, AccelS, and AccelR.

See Also
Move

ROTOK Function Example

If ROTOK(P1) = True Then
  Move P1 ROT
Else
  Move P1
EndIf