PerformMode Statement
Sets the mode of the robot.
Syntax
(1) PerformMode [modeNumber] [, robotNumber]
(2) PerformMode
Parameters
- modeNumber
- Specify the mode with an integer value (0 to 2) or with the following constant. This parameter is optional only when the statement is executed from the command window.
Constant Value Description MODE_STANDARD 0 Sets the Standard mode MODE_BOOST 1 Sets the Boost mode MODE_LOW_VIBRATRION 2 Sets the Low-oscillation mode - robotNumber
- Specify the robot number as an integer value. If omitted, currently selected robot will be used.
Result
- When specified by the syntax (1), the mode will be set by the mode number that is specified.
- When specified by the syntax (2), the mode number of the currently selected robot will be displayed.
Description
PerformMode is a function to change the preference of manipulator performance (mode) according to the intended use. For details of mode, refer to the following manual:
"Manipulator Manual"
Standard: The cycle time, the motion duty, and the oscillation at the motion stop are balanced. This mode is available for any kind of application.
BOOST: This mode is specialized to reduce the operating time of a task. Although this mode aggravates the motion duty and oscillation at the motion stop compared to the standard mode, it can reduce operation time.
Recommended application: Transportation
Low-oscillation: This mode is specialized to reduce the oscillation at the motion stop. Although this mode increases the operating time compared to the standard mode, it can reduce the oscillation at the motion stop.
Recommended application: Transportation and assembly of precision components
Performance comparison
| Mode | Comparison item | ||
|---|---|---|---|
| Operating time (*1) | Oscillation | Motion Duty (*2) | |
| Standard | Normal | Normal | Normal |
| Boost | Improved | Decreased | Decreased |
| Low-oscillation | Decreased | Improved | Normal |
The symbols in the table represent the degree of performance.
Normal: Standard Improved: Improved Decreased: Slightly decreased
- (*1) Traveling time of the manipulator moving from the current position to the target point.
- (*2) Rate of operation time in maximum acceleration without overload error.
Note
When it’s not supported products, an error may occur to change mode to boost or low-oscillation.
Target motion commands: PTP motion commands (Go, BGo, TGo, Jump, JTran, PTran, Pulse)
Following performance of the CP motion are not affected by Precede statement.
- Trajectory accuracy
- Upper limit values of AccelS, AccelR, SpeedS, SpeedR
- Frequency of the acceleration setting error and the speed setting error
Conditions that automatically initialize the mode (to the Standard mode)
The table below shows the conditions which automatically initializes the mode.
Change of the Mode Controller power ON Changes to the standard mode Controller reboot Changes to the standard mode Motor ON Changes to the standard mode Build / Rebuild Mode does not change Reset Mode does not change SFree Changes to the standard mode
See Also
Bo, Go, Jump, JTran, PerformMode Function, TGo
PerformMode Statement Example
PerformMode MODE_STANDARD
Go P1
PerformMode 2
Go P2