6-141
155507-1CD
RE-CSO-A037
DX100
6 Convenient Functions
6.15 Analog Output Function Corresponding to Speed
6.15.3.2 Example of Variation of Operating Speed and Analog Output Value
The following graph shows the change of the analog output
according to the speed variation.
MOVL V=200.0
ARATION AO#(1) BV=10.00 V=200.0 OFV=-2.00
MOVC V=150.0
MOVC VR=20.0 (When the tool center point speed is 100 mm/s)
MOVC V=150.0
MOVL V=180.0
MOVL (When the tool center point speed is 180 mm/s)
AOUT AO#(1) 10.00
Fig. 6-6:
Analog Voltage according to Speed
• Since the analog output corresponding to speed is made
for the calculated speed, there may be little difference
from the actual operating speed of the manipulator.
• When a posture speed is specified, the analog output
corresponding to speed is made for the operating speed at
the tool center point with the posture speed.
Time
Analog
voltage (V)
Operating
speed (mm/s)
10
8.8
7
4
200
180
150
100
1
2
3
4
56
7
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