DURATION program instruction DURATION program instruction Syntax DURATION time ALWAYS Function Set the minimum execution time for subsequent robot motions. Usage Considerations Unless the ALWAYS parameter is specified, only the next robot motion is affected. DURATION 0 ALWAYS is assumed whenever program execution is initiated and when a new execution cycle begins. The DURATION instruction affects the DRIVE instruction but not the DELAY instruction. The setting of the monitor SPEED command affects the results of the DURATION setting. The DURATION instruction can be executed by any program task as long as the robot selected by the task is not attached by any other task.
The instruction applies to the robot selected by the task. If the eV+ system is not configured to control a robot, executing the DURATION instruction causes an error. Parameters time Real-valued expression that specifies the minimum length of time (in seconds) that subsequent robot motions take to perform (see below). If the value is zero, robot motions are performed without consideration of their time duration and use only the applicable values for SPEED and ACCEL. ALWAYS Optional keyword that determines how long the new duration will have an effect.
If ALWAYS is included, the specified duration time applies to all subsequent robot motions (until the duration setting is changed by another DURATION instruction). The specified duration applies only to the next robot motion if ALWAYS is not included. eV+Language Reference Guide, v2.x, 18319-000 Rev A Page 189