CP Statement
Sets CP (Continuous Path) motion mode.
Syntax
(1) CP { On | Off }
(2) Motion instruction Endpoint CP
Parameters
- On | Off
-
- The keyword On is used to enable path motion.
- The keyword Off is used to disable CP mode.
Description
Pass motion is used in the following instructions.
Arc, Arc3, Go, Jump, Jump3, Jump3CP, JumpTLZ, Move
When CP mode is On, each motion command executes the next statement as deceleration starts. Continuous path motion will continue regardless of whether the CP parameter is specified in each motion command or not.
When CP is Off, this function is active only when the CP parameter is specified in each motion command.
Normal Motion
Path Motion
| Symbol | Description |
|---|---|
| a | speed |
| b | time |
| c | Start deceleration |
| d | Start acceleration |
When CP is On, path motion will continue without full deceleration between two CP motions (Arc, Arc3, Jump3, Jump3CP, JumpTLZ, and Move), or two PTP motions (Go, Jump).
In contrast, full deceleration will occur between a CP motion and a PTP motion.
When connecting CP motion and PTP motion at CP On from the controller preferences, the operation trajectories of CP motion and PTP motion will be combined. Depending on the operating acceleration/deceleration setting, an overspeed or overacceleration error may occur. In that case, adjust the acceleration/deceleration rate or disable it.
In addition, in the CP motion whose target is wrist singular point in a vertical 6-axis robot (including the N series), the next motion and the motion trajectory will not be combined and full deceleration will occur.
If Here is used when pass motion is enabled, the motion trajectory is not synthesized before the motion for which Here is specified, and the motion is decelerated. If used as shown below, the robot decelerates and stops at P1, and then starts the next motion.
Go P1 CP
Go Here+X(100)
If you want it to work without stopping, modify the program to pre-calculate the position of Here.
Go P1 CP
Go P1+X(100)
CP will be set to Off in the following cases
- Controller Startup
- Motor On
- SFree, SLock, Brake
- Reset or Reset Error is executed
- Task end by STOP switch or Quit All
See Also
CP Function, Arc, Arc3, Go, Jump, Jump3, Jump3CP, JumpTLZ, Move
CP Statement Example
CP On
Move P1
Move P2
CP Off