Motoman XRC 2001, Operator'S Manual

Page: 36 / 387

3.1 Manipulator Motion
3-4
3.1.3
Move Instructions and Steps
The manipulator uses job instructions to move and execute playback. This is called a move
instruction. The destination position, the interpolation method, the play speed, etc. are regis-
tered in the move instruction.
The reason it is called a move instruction is that the main instruction begins with “MOV” in the
INFORM II language used by the XRC.
<Example>
MOVJ VJ=50.00
MOVL V=1122 PL=1
From one move instruction to the next move instruction is one step. Step 1 is 001 and step 2
is 002. The next step is 003, and so on.
“Position of Step1” corresponds to the position registered in the move instruction of Step
number 001 (S:001).
<Example>
Refer to the job content display in the following. When executing playback, the manipulator
moves between Step 1 and Step 2, and the play speed is registered in Step 2’s move instruc-
tion. After the manipulator reaches Step 2, the manipulator then executes the TIMER instruc-
tion followed by the DOUT instruction, and then continues on to Step 3.
J:JOB-A S:002 R1 TOOL:00
0 0 0 5 M O V J V J = 5 0 . 0 0
0 0 0 6 M O V L V = 1 2 3 4
0007 TIMER T=5.00
0 0 0 8 D O U T O T # ( 1 ) O N
0 0 0 9 M O V J V J = 5 0 . 0 0
S t e p N u m b e r
L i n e N u m b e r
Step 1
Step 2
Step 3