DURATION real-valued function DURATION real-valued function Syntax DURATION (select) Function Return the current setting of one of the motion DURATION specifications. Usage Considerations The DURATION function returns information for the robot selected by the task executing the function. If the eV+ system is not configured to control a robot, the DURATION function does not generate an error due to the absence of a robot. However, the information returned by the function may not be meaningful. Parameter select Real-valued expression whose value determines which duration value should be returned (see below).
Details This function returns the user-specified minimum robot motion duration (in seconds) corresponding to the select parameter value. (See the description of the DURATION program instruction for an explanation of the specification of motion duration times.) Different select values determine when the duration time returned applies, as listed below. (All other values for the select parameter are considered invalid.) eV+Language Reference Guide, v2.x, 18319-000 Rev A Page 192 Select DURATION value returned 2 Permanent minimum robot motion duration (set by a DURATION ...
ALWAYS program instruction) 3 Temporary motion duration for the current or last motion 4 Temporary motion duration to be used for the next motion