VRT_CPMotion
Specifies whether enable or disable VRT function during CP motion.
Syntax
(1) VRT_CPMotion
(2) VRT_CPMotion
Parameters
On|Off
- On: Enable VRT function during CP motion.
- Off: Disable VRT function during CP motion.
Return Values
When parameters are omitted, the current VRT_CPMotion definitions are displayed.
Description
VRT function is only available for PTP motion. You need to turn On the VRT_CPMotion to function in CP motion. For details of motion commands that VRT function can perform, refer to the table below.
Motion commands that VRT function can function and cannot function.
| Motion command | VRT_CPMotion OFF | VRT_CPMotion ON |
|---|---|---|
| Go, BGo, TGo | OK | OK |
| Jump | OK | OK |
| JTran | OK | OK |
| PTran | OK | OK |
| Move, BMove, TMove | - | OK |
| FCSMove | - | OK |
| Arc | - | OK |
| Arc3 | - | OK |
| CvMove | - | OK |
| Jump3CP | - | OK |
| Jump3(JumpTlz) | - | OK |
Initial definition of VRT_CPMotion is OFF.
If turning VRT_CPMotion ON, automatically SoftCP turns ON.
Cannot use with conveyor tracking or force control function.
(VRT function automatically disabled.)
Note
Effect on VRT_CPMotion when Power OFF
Definition of selected VRT_CPMotion does not change if turning OFF the power.
See Also
VRT_CPMotion Example
VRT_CPMotion On