Omron SCARA YRCX Series, Programming Manual, Page: 210 / 506

8-118 Chapter 8 Robot Language Lists
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I
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M
63 MOVEI
●
Speed setting 3
PTP Linear interpolation
Format
VEL =expression
Values expression .............................1 to maximum speed depending on the model
(units: mm/sec)
Explanation Specifies the maximum composite speed (in "mm/sec" units) of the XYZ axes in
an < expression >. This option is specifiable when the movement type is linear
interpolation movements.
This option is enabled only for the specified MOVEI statement.
SAMPLE
MOVEI L,P10,VEL=100 ··········· From its current position, the axis of
robot 1 moves (linear interpolation
movement) the amount specified by P10,
at the maximum composite speed of 100
mm/sec. of the XYZ axis.
●
STOPON condition setting
PTP Linear interpolation
Format
STOPON conditional expression
Explanation Stops movement when the conditions specified by the conditional expression
are met. Because this is a deceleration type stop, there will be some movement
(during deceleration) after the conditions are met.
If the conditions are already met before movement begins, no movement
occurs, and the command is terminated.
This option is only possible by program execution.
SAMPLE
MOVEI P,P100,STOPON DI(20)=1
···················· From its current position, the axis
of robot 1 moves (PTP movement) the
amount specified by P100. If the "DI (20)
= 1" condition is met during movement,
a deceleration and stop occurs, and
the next step is then executed.
• When the conditional expression used to designate the STOPON condition is a numeric
expression, expression value other than “0” indicates a TRUE status, and “0” indicates a FALSE
status.
NOTE
•
This option specifies only
the maximum composite
s p e e d a n d d o e s n o t
guarantee movement at
the specified speed.
CAUTION
• Addition of the STOPON
condition setting disables
the CONT setting.
MEMO