10.5.1.22. SPDTRK

Explanation	Statement that changes the moving speed of the robot according to the ratio of the reference value against the input value in real time.
Syntax	SPDTRK [ST=<ON/OFF>],[Input variable],[REF=<Reference value>],
Parameter	ON/OFF	SPDTRK function On/Off setting	0:OFF, 1:ON
	Input variable	Input variable to change the moving speed of the robot.
	Reference value	Input of the reference value equivalent to 100% of the robot’s moving speed. Maximum moving speed ratio: 500%	0.0001 ~ 10000
Example	SPDTRK ST=1,AI3,REF=10.0 'SPDTRK function On, analogue input #3 value- induced moving speed. Ratio change. When 10.0V is inputted, movement occurs in the MOVE statement record speed (100%) MOVE L,S=10mm/s,A=1,T=0 'Robot’s moving speed changes due to the analogue input value ration SPDTRK ST=0,AI3,REF=10 'SPDTRK function Off

l As the input values, the analogue input signals and general input signals can be used.