Omron SCARA YRCX Series, Programming Manual, Page: 255 / 506

PMOVE 8-163
88
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84 PMOVE
Movement type
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PTP (point-to-point) movement
PTP movement begins after positioning of all movement axes is complete (within the tolerance
range), and
the command terminates when the movement axes enter the OUT position range.
Although the movement axes reach their target positions simultaneously, their paths are not
guaranteed.
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Caution regarding commands which follow the PMOVE command:
If the next command following the PMOVE command is an executable command such as a
signal output command, that next command will start when the movement axis enters the OUT
position range. In other words, that next command starts before the axis arrives within the
target position OUT position range.
Example:
Signal output (DO, etc.) Signal is output when the axis enters within OUT position range.
DELAY
DELAY command is executed and standby starts, when the axis enters the
OUT position range.
HALT
Program stops and is reset when the axis enters the OUT position range.
Therefore, the axis movement also stops.
HALTALL
All programs in execution stop when axis enters the OUT position range, task
1 is reset, and other tasks terminate. Therefore, the movement also stops.
HOLD
Program temporarily stops when the axis enters the OUT position range.
Therefore, the axis movement also stops.
HOLDALL
All programs in execution temporarily stop when the axis enters the OUT
position range. Therefore, the movement also stops.
WAIT WAIT command is executed when the axis enters the OUT position range.
The WAIT ARM statement is used to execute the next command after the axis enters the
tolerance range.
P1
PMOVE command
DO(20) turns ON
PMOVE(0,1)
WAIT ARM
DO(20)=1
DO(20) turns ON
PMOVE(0,1)
DO(20)=1
Tolerance
Target position
OUT position
HOLD execution
(program temporarily stops)
PMOVE(0,1)
WAIT ARM
HOLD PMOVE(0,1)
HOLD
Tolerance
OUT position
Target position
HOLD execution
(program temporarily stops)
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