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Profile Class Summary

The following pages provide detailed information on the properties and methods of the Profile Class. This class defines the attributes of objects that are used to specify the performance parameters for a typical motion. That is, a Profile Object contains speed, acceleration, deceleration, in range criteria and other specifications that dictate how a motion is to be performed. The basic motion instruction, Move.Loc, takes as its two arguments a Profile Object and a Location Object. The Location Object specifies the destination for the robot motion and the Profile Object specifies how the robot is to get to the destination.

As is standard in GPL, conversions between different arithmetic types, e.g. Boolean, Integer, Single, Double, are automatically performed as required. So, for numeric properties and methods of the Profile Class, it is not necessary to have different variations of these members to deal with the different possible mixes of input parameter data types. Also, as appropriate, the properties and methods generally produce results that are formatted as Double’s. These results will automatically be converted to smaller data types as necessary, e.g. Double -> Integer, and will not generate an error so long as numeric overflow does not occur.

Table 19-68 summarizes the properties and methods that are described in greater detail in the following sections.