![background image](http://html.mh-extra.com/html/omron/scara-yrcx-series/scara-yrcx-series_programming-manual_1633413141.webp)
8
DRIVE 8-49
A
B
C
D
E
F
G
H
I
J
K
L
M
29
DRIVE
The WAIT ARM statement is used to execute the next command after the axis enters the
tolerance range.
P1
DO(20) turns ON
DRIVE(1,P1)
WAIT ARM
DO(20)=1
DO(20) turns ON
DRIVE(1,P1)
DO(20)=1
Tolerance
Target position
OUT position
HOLD execution
(program temporarily stops)
DRIVE(1,P1)
WAIT ARM
HOLD
DRIVE(1,P1)
HOLD
Tolerance
OUT position
Target position
HOLD execution
(program temporarily stops)
DRIVE command
33819-R7-00
SAMPLE
DRIVE(1,P0) ··················· Axis 1 of robot 1 moves from its
current position to the position
specified by P0.
Point data setting types
●
Direct numeric value input
The target posotion is specified directly in <
expression
>.
If the numeric value is an integer, this is interpreted as "pulse" units. If the numeric value is
a real number, this is interpreted as "mm/degrees" units, and each axis will move from the
0-pulse position to a pulse-converted position.
However, when using the optional XY setting, movement occurs from the Cartesian coordinate
origin position.
SAMPLE
DRIVE(1,10000) ··············· Axis 1 of robot 1 moves from its
current position to the 10000 pulses
position.
DRIVE(2((2,90.00) ············ Axis 2 of robot 2 moves from its
current position to a position which
is 90° in the plus-direction from the
0-pulse position.
Summary of Contents for SCARA YRCX Series
Page 1: ... 7 6HULHV DW 1R 1 5 5RERW RQWUROOHU 352 5 00 1 0 18 6 5 5RERWV 5 6HULHV ...
Page 2: ......
Page 20: ......
Page 26: ......
Page 27: ...Chapter 2 Constants 1 1 Outline 2 1 2 2 Numeric constants 2 1 3 3 Character constants 2 2 ...
Page 28: ......
Page 32: ......
Page 52: ......
Page 54: ......
Page 61: ...Chapter 5 Multiple Robot Control 1 1 Overview 5 1 2 2 Command list with a robot setting 5 2 ...
Page 62: ......
Page 66: ......
Page 76: ......
Page 78: ......
Page 92: ......
Page 328: ......
Page 408: ......
Page 409: ...Chapter 11 User program examples 1 1 Basic operation 11 1 2 2 Application 11 8 ...
Page 410: ......
Page 432: ......
Page 488: ......
Page 489: ...Chapter 13 Appendix 1 1 Reserved word list 13 1 2 2 Changes from conventional models 13 3 ...
Page 490: ......
Page 496: ......
Page 497: ...Index ...
Page 498: ......
Page 504: ......
Page 505: ......
Page 506: ... DW 1R 1 XWKRUL HG LVWULEXWRU 3ULQWHG LQ XURSH ...