DELAY.IN.TOL system switch DELAY.IN.TOL system switch Syntax ... DELAY.IN.TOL [robot_num] Function Controls the timing of COARSE or FINE nulling after eV+ completes a motion segment. Parameter robot_ num Optional real value, variable, or expression (interpreted as an integer) that indicates the number of the robot affected. If the index is omitted or zero in an ENABLE or DISABLE command or instruction, the settings for all robots are altered. Otherwise, only the setting for the specified robot is affected. Details The DELAY.IN.TOL system switch is disabled by default for all robot device modules, except the Delta robot device module.
If the switch is disabled, COARSE or FINE nulling completes whenever eV+ has completed a motion segment and the robot is tracking the trajectory to within the coarse or fine tolerance. The actual robot location might not be within the tolerance of the endpoint. If the switch is enabled, COARSE or FINE nulling completes whenever eV+ has completed a motion segment and the actual robot location is within the specified coarse or fine tolerance of the endpoint of that motion segment. Usage Considerations For many applications, enabling this switch produces the best nulling behavior. However, the switch should be disabled for backward compatibility with previous eV+ systems.
Related Keywords COARSE program instruction FINE program instruction NULL program instruction NONULL program instruction eV+Language Reference Guide, v2.x, 18319-000 Rev A Page 163