Omron SCARA YRCX Series, Programming Manual, Page: 199 / 506

MOVE 8-107
8
A
B
C
D
E
F
G
H
I
J
K
L
M
62 MOVE
●
CONT setting
PTP Linear interpolation Circular interpolation
Format
CONT
Explanation When movement is executed with CONT setting option, Movable axes will
begin to execute the next command without waiting the completion their
movement (entering the tolerance range). If the next command is a movement
command, the 2 movement paths are linked by connecting the deceleration
and acceleration sections, enabling continuous movement without intermediate
stops.
This option is enabled only for the specified MOVE statement.
●
Caution regarding MOVE L / MOVE C command with CONT setting:
If the next command following the MOVE L / MOVE C command with CONT setting is
an executable command such as a signal output command, that next command will start
immediately after axis movement begins. In other words, that next command starts before the
axis arrives within the target position tolerance range.
Example:
Signal output (DO, etc.) Signal is output immediately after movement along the final path begins.
DELAY
DELAY command is executed and standby starts immediately after
movement along the final path begins.
HALT
Program stops and is reset immediately after movement along the final path
begins. Therefore, axis movement also stops.
HALTALL
All programs in execution stop immediately after movement along the
final path begins, task 1 is reset, and other tasks terminate. Therefore, the
movement also stops.
HOLD
Program temporarily stops immediately after movement along the final path
begins. Therefore, axis movement also stops.
HOLDALL
All programs in execution temporarily stop immediately after movement
along the final path begins. Therefore, the movement also stops.
WAIT
WAIT command is executed immediately after movement along the final
path begins.
P1
MOVE command
DO(20) turns ON
MOVE L,P1
CONT
DO(20)=1
DO(20) turns ON
MOVE L,P1
DO(20)=1
Tolerance
Final target position
33808-R9-00
CAUTION
• In YRCX, the motion of
interpolation movement
c o m m a n d a n d E N D
condition are different
from conventional model.
Addition of the CONT
setting to the movement
command allows to the
equivalent movement
and END condition in
c o n v e n t i o n a l m o d e l .
NOTE
• The CONT setting can
b e u s e d t o r e d u c e
t h e m o v e m e n t E N D
positioning time. The path
to the target point is not
guaranteed.