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DE: The abbreviation of DISTANCE END, refers to the distance from the moving target point.
DC: Abbreviation for DISTANCE COMPLETE, which refers to the percentage of the entire
distance completed.
Program example
SET TR[1],DE=100, DO[ 9]=ON
//Set trigger number 1, specify the distance of the end point
target 100mm, output DO[9]=ON
L P[1]
L P[2],
BIND_TR[0,1]
//P2 point set trigger condition 0 or 1, can set single or multiple, separated by
commas
Note: As in the above program, the first line of the program is set to trigger 1-end point 100mm-
operation DO[9] (Note: when there is the same trigger number, it will be executed under the
condition of the latest trigger number); the actual execution result of the program is: linear motion
To P[1], then move straight from P[1] to P[2]. (Note: P2 point is set to trigger condition 0 or 1, and
the first line of the program is set to trigger 1, because the internal periodical detection of robot TCP
is 100mm away from P2 point, that is, at the radius boundary, the DO[9] signal output instruction
is executed, as above Figure).
The different distance types are as follows:
Triggering
conditions
DS=xx
DE=xx
DC=xx
Features
The robot TCP outputs a
signal when the distance
from the starting point
of the robot operation
exceeds xx mm
When the robot TCP is
within xx mm from the
target point of the robot,
it outputs a signal
When the robot TCP has
run the motion instruction
of the line, the robot TCP
needs to move xx% of the
entire distance, output a
signal
Triggering
conditions
The robot leaves the
starting point, and the
The robot starts to the
target point, and the
The robot starts to the
target point, and the robot