QPDecelR Statement

Sets the deceleration speed of quick pause for the change of tool orientation during the CP motion.

Syntax
(1) QPDecelR QPDecelR

(2) QPDecelR

Parameters

QPDecelR: Specify the deceleration for quick pause in the CP motion with a real number value. (Unit: deg/sec²)

Result
If omitted the parameter, the current QPDecelR set value will be displayed.

Description
QPDecelR statement is enabled when the ROT parameter is used in the Move, Arc, Arc3, BMove, TMove, and Jump3CP statements.

While quick pause is executed in these statements, a joint acceleration error may occur. This is because the deceleration speed of quick pause that is automatically set in a normal quick pause is over the joint allowable deceleration speed. Specifically, the error is likely to occur when the AccelR value in the CP motion is too high or jogging the robot near a singularity. In these cases, use the QPDecelR and set a lower quick pause deceleration speed. But if the setting is too low, the distance for quick pause will increase. Therefore, set the possible value. Normally, you don’t need to set QPDecelR.

You cannot use values lower than the deceleration speed of orientation change in the CP motion set with QPDecelR and AccelR. If you do, a parameter out of range error occurs.

Also, after you set QPDecelR, if a higher value than the set QP deceleration speed is set with the AccelR, the QPDecelR will automatically set the QP deceleration speed same as the deceleration speed set with the AccelR.

The QPDecelR Statement value initializes to the default max deceleration speed when any one of the following conditions occurs:

Controller Startup
Motor On
SFree, SLock, Brake
Reset or Reset Error is executed
Task end by STOP switch or Quit All

See Also
QPDecelR Function, QPDecelS, AccelR

QPDecelR Statement Example
The following program sets the QPDecelR of the Move statement.

Function QPDecelTest
  AccelR 3000
QPDecelR 4000
  SpeedR 100
  Move P1 ROT
  .
  .
  .
Fend

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