VSD Statement

Sets the variable speed CP motion function for SCARA robot.

Syntax
VSD { ON | Off }​

Parameters

On | Off

• On: Enables the variable speed CP motion function of SCARA robot.
• Off: Disables the variable speed CP motion function of SCARA robot.

Description
VSD is available for following commands.
Move, Arc, Arc3

This command is available only for SCARA robots. For other than SCARA robots, use AvoidSingularity SING_VSD.

The variable speed CP motion function prevents the acceleration error and overspeed error from occurring when SCARA robot is executing CP motion. This function automatically controls the joint speed while keeping the trajectory. If the joint speed is controlled, the tool center point speed specified by SpeedS will not be kept. However, the original speed setting will be returned when the joint speed gets below the limit. If constant velocity is prioritized, set AccelS, DecelS, and SpeedS smaller and eliminate the error occurrence.

If the acceleration and overspeed errors occur even when the VSD statement is used, set AccelS, DecelS, and SpeedS smaller.

If the VSD parameter is changed, the current setting is effective until the next controller startup.

VSD is set off when the startup of the controller.

See Also
VSD Function

VSD Statement Example

VSD On 'Enable the variable speed CP motion and execute the motion
Move P1
Move P2
VSD Off