Omron SCARA YRCX Series, Programming Manual, Page: 197 / 506

MOVE 8-105
8
A
B
C
D
E
F
G
H
I
J
K
L
M
62 MOVE
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Arch motion setting
PTP Linear interpolation Circular interpolation
Format
x =expression {expression（, expression2}
Values x ............................................
expression .............................
expression1, expression2 .......
Specifies an axis from A1 to A6
Arch position
Integer value: "pulse" units.
Real number (with decimal point): "mm/deg" units.
Arch distance 1, Arch distance 2
Integer value: "pulse" units.
Real number (with decimal point): "mm/deg" units.
• When there is a real value in any of the < expression >, < expression 1 >, and < expression 2 >, all
expressions are handed as real value.
Explanation 1. The "x" specified axis begins moving toward the position specified by the
< expression > ("1" shown in the Fig. below).
2. When the axis specified by "x" moves the arch distance 1 or more, other axes
move to their target positions ("2" shown in the figure below).
3. The axis specified by "x" moves to the target position so that the remaining
movement distance becomes the arch distance 2 when the movement of
other axes is completed ("3" shown in the figure below).
4. The command ends when all axis enter the OUT position range.
This option can be used only for PTP movement.
When the axis specified by "x" is the first arm or second arm of the SCARA
robot or the axis 1 or axis 2 of the XY robot, the <
expression > and target
position value are limited to an integer (pulse units).
SAMPLE
MOVE P,P1,A3=0{150,100} ········ The A3-axis moves from the current position
to the "0 pulse" position. After that, other
axes move to P1. Finally, the A3-axis moves
to P1.
SAMPLE:MOVE A3
Target position Current position
1. A3-axis movement 3. A3-axis movement
2. Other axes movement
Arch distance 1
Arch distance 2
A3=0
33704-R9-00
MEMO
NOTE
• The axis arch distance
p a r a m e t e r s c a n b e
changed using ARCHP1/
ARCHP2. The smaller the
value, the shor ter the
m ove m e n t e x e c u t i o n
time.