Motion Process Mode Set - Unknown Reference

Robot Controller IRC5
1

I am trying to set the Motion process mode during runtime using instruction as mentioned in RAPID instructions manual

MotionProcessModeSet OPTIMAL_CYCLE_TIME_MODE;
! Do something
. . .
MotionProcessModeSet ACCURACY_MODE;
! Do something

I am getting a reference error: “Reference to unknown procedure MotionProcessModeSet”

Isn’t MotionProcessModeSet built in instruction? I am using it inside a user defined module.

Using robotware 6.12

2

The instruction requires an option, Advanced Robot Motion.

3

I think the option enables changing process mode from rapid, but you can still change process mode in moc.cfg (or sys.cfg​:thinking:) I did a test in RS and ACCURACY_MODE made the robot much slower.