PTPTime Function

Returns the estimated time for a point to point motion command without executing it.

Syntax
(1) PTPTime(destination, destArm, destTool)

(2) PTPTime(start, startArm, startTool, destination, destArm, destTool)

Parameters

start

Specify the start position as a point expression.

destination

Specify the target position with a point expression.

destArm

Specify the arm number of the target position as an integer value or an expression.

destTool

Specify the tool number of the target position as an integer value or an expression.

startArm

Specify the arm number of the start position as an integer value or an expression.

startTool

Specify the tool number of the start position as an integer value or an expression.

Return Values
Real value in seconds.

Description
Use PTPTime to calculate the time it would take for a point to point motion command (Go). Use syntax 1 to calculate time from the current position to the destination. Use syntax 2 to calculate time from a start point to a destination point.

The actual motion operation is not performed when this function is executed. The current position, arm, and tool settings do not change.

If the position is one that cannot be arrived at or if the arm or tool settings are incorrect, 0 is returned.

If a robot includes an additional axis and it is the servo axis, the function will consider the motion time of the additional axis. If the additional axis is a PG axis, the motion time of the robot will be returned.

See Also
ATRQ, Go, PTRQ

PTPTime Function Example

Real secs

secs = PTPTime(P1, 0, 0, P2, 0, 1)
Print "Time to go from P1 to P2 is:", secs

Go P1
secs = PTPTime(P2, 0, 1)
Print "Time to go from P1 to P2 is:", secs