SoftCP Statement

Specifies the SoftCP motion mode.

Syntax
SoftCP { On | Off }

Parameters

On | Off

On is used to enable SoftCP motion mode.
Off is used to disable SoftCP motion mode.

Description
SoftCP motion mode controls the vibration caused by CP motion with high acceleration/deceleration.

Normal CP motion focuses on path-tracking and uniform-motion which increases the vibration when acceleration/deceleration is high. To reduce the vibration, acceleration/deceleration needs to be reduced with the SpeedS and AccelS commands. However, some applications don’t necessarily require the high performance of path-tracking and uniform-motion but need CP motion with less vibration when acceleration/deceleration is high. SoftCP motion mode dampens the path-tracking and uniform-motion performance more than in the normal CP motion mode and reduces the vibration in CP motion with high acceleration/deceleration.

SoftCP motion mode applies to the following CP motion commands:
Move, BMove, TMove, Arc, Arc3, CVMove, Jump3CP

If the vibration doesn’t matter in the normal CP motion or the performances of path-tracking and uniform-motion are required, don’t apply SoftCP motion mode.

Caution

When connection CP motion and PTP motion in CP On

When connecting CP motion and PTP motion as shown below, be sure to enable SoftCP. If it is not enabled, noise may occur from the robot depending on the motion. After connecting CP motion and PTP motion, disable SoftCP.
```
SoftCP On
Go P1 CP
Move P2
SoftCP Off
```

See Also
SoftCP Function

SoftCP Statement Example

SoftCP On
Move P1
Move P2
SoftCP Off

← SLock Statement SoftCP Function →