[Short movement] Tab

When the wring is difficult, create a program to measure with short moving distance.

Items	Descriptions
Generate program	Generate SPEL+ program for short distance motion. Click the button when all settings have completed. Generated program: C:\EpsonRC80\projects\VRT\VRT_smalldrive.prg Click the button to pause the software. The following message is displayed.
Robot No.	Specify the robot number to measure vibrations (install VR unit). Setting values: 1 to 16
Move instruction	Select move instruction (motion command) to measure vibration. Options: Go , Move , Jump
Point number of destination point	Input a point number of the end point (destination point) (motion that has been vibrating). Setting value: integer number
Arm No.	Set additional arm number of the robot that measures vibration. Setting value: 0 to 15
Tool No.	Set robot tool number of the robot that measures vibration. Setting value: 0 to 15
Weight	Set the weight of hand that the arm is installed. Unit: kg
Innertia (Left)	Left: Set inertia moment around the center of the tip joint including hand and workpiece. (inertia) Unit: kgm^2
(Right)	Right: Set distance from the center of inertia of hand and workpiece of the center of the tip joint. Unit: mm

Go, Jump: Items	Descriptions
Speed	Specify as a percentage of maximum motion speed. Setting value: integer number from 1 to 100 Unit:%
Accel	Specify as a percentage of maximum acceleration. Setting value: integer number 1 or more Unit: %
Decel	Specify as a percentage of maximum deceleration. Setting value: 1 or more Unit: %

Jump: Items	Descriptions
Departure Speed	Set speed of departure motion. Setting value: integer number from 1 to 100 Unit: %
Approach Speed	Set speed of approach motion. Setting value: integer number from 1 to 100 Unit: %
Departure Accel	Set acceleration of departure motion. Setting value: integer number 1 or more Unit: %
Approach Accel	Set acceleration of approach motion. Setting value: integer number 1 or more Unit: %
Departure Decel	Set deceleration of departure motion. Setting value: integer number 1 or more Unit: %
Approach Decel	Set deceleration of approach motion. Setting value: integer number 1 or more Unit: %

Move: Items	Descriptions
SpeedS	Set speed in real number. Unit: mm/sec
AccelerationS	Set acceleration in real number. Unit: mm/sec^2
DecelerationS	Set deceleration in real number. Unit: mm/sec^2

Item	Description
Operation step after generating a program	Steps after clicking the [Generate program] button are displayed.