Cgetvely - Omron SCARA YRCX Series User Manual

Explanation
<Robot number>
Resolves the velocity in the X-direction on the robot Cartesian coordinates specified by the robot number.
The robot number can also be specified by a variable. If omitted, Robot 1 is specified.
<Counter number>
Specifies the counter number of the conveyor for which the velocity is to be obtained.
Either 1 or 2 can be specified. This can also be specified by a variable.
7.3.13

CGETVELY

Description
This function obtains the Y-direction velocity (unit: mm/10 ms) by resolving the conveyor velocity to X and Y-direction on
the robot Cartesian coordinates.
7
The specified robot number conveyor velocity is obtained by Y-direction velocity on the specified robot Cartesian
coordinates.
Y-direction on the robot
Cartesian coordinates
Explanation
<Robot number>
Resolves the velocity in the Y-direction on the robot Cartesian coordinates specified by the robot number.
The robot number can also be specified by a variable. If omitted, Robot 1 is specified.
<Counter number>
Specifies the counter number of the conveyor for which the velocity is to be obtained.
Either 1 or 2 can be specified. This can also be specified by a variable.
38
Resolving the conveyor speed in X and Y-direction on the robot Cartesian coordinates
CGETVELX (Obtains the speed in X-direction)
Conveyor flow direction
Conveyor speed
Y-direction on the robot
Cartesian coordinates
CGETVELY
CGETVELY[robot number](counter number)
Obtains the velocity of Y-direction by resolving the conveyor velocity to X and Y-direction on the robot
Cartesian coordinates.
Resolving the conveyor velocity in X and Y-direction on the robot Cartesian coordinates
CGETVELY (Obtains the velocity in Y-direction)
Conveyor flow direction
Conveyor speed
Velocity in Y-direction
obtained by "CGETVELY"
X-direction on the robot
Cartesian coordinates
Speed in X-direction
obtained by "CGETVELX"
Resolving the conveyor speed in X and Y-direction
on the robot Cartesian coordinates
X-direction on the robot
Cartesian coordinates
Resolving the conveyor velocity in X and Y-direction
on the robot Cartesian coordinates