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MOVE 8-109
8
A
B
C
D
E
F
G
H
I
J
K
L
M
62
MOVE
●
Acceleration setting
PTP
Linear interpolation
Circular interpolation
Format
ACC =expression
Values
expression
..............................1 to 100 (units: %)
Explanation
Specifies the robot acceleration rate in the <
expression
>. The actual robot
acceleration is determined by the acceleration coefficient parameter setting.
This option can only be used for PTP movement and linear interpolation
movement and is enabled only for the specified MOVE statement.
SAMPLE
MOVE L,P100,ACC=10 ············ Robot 1 moves at an acceleration rate of
10% from the current position to the
position specified by P100.
●
Deceleration setting
PTP
Linear interpolation
Circular interpolation
Format
DEC =expression
Values
expression
..............................1 to 100 (units: %)
Explanation
Specifies the robot deceleration rate in an <
expression
>. The actual robot
deceleration is determined by the acceleration coefficient parameter setting (the
setting is specified as a percentage of the acceleration setting value (100%)).
This option can only be used for PTP movement and linear interpolation
movement and is enabled only for the specified MOVE statement.
SAMPLE
MOVE L,P100,DEC=20 ········· Robot 1 moves at a deceleration rate of
20% from the current position to the
position specified by P100.
Summary of Contents for SCARA YRCX Series
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Page 27: ...Chapter 2 Constants 1 1 Outline 2 1 2 2 Numeric constants 2 1 3 3 Character constants 2 2 ...
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Page 61: ...Chapter 5 Multiple Robot Control 1 1 Overview 5 1 2 2 Command list with a robot setting 5 2 ...
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Page 409: ...Chapter 11 User program examples 1 1 Basic operation 11 1 2 2 Application 11 8 ...
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Page 489: ...Chapter 13 Appendix 1 1 Reserved word list 13 1 2 2 Changes from conventional models 13 3 ...
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