8-
7
8
ROBOT LANGUAGE
■
When the position data unit parameter is set to 3:
When
this
parameter
is
set
to
3
,
the
current
position
is
expressed
in
degrees
(
°
)
from
0
to
359
.
99
as
a
basic
cycle.
Therefore,
even
if
the
robot
moves
to
the
360
°
point,
that
position
sets
to
0
°
(=360
°
)
so
that
the
robot
can
rotate
continuously
in
the
same
direction.
In
limitless
movement,
the
rotation
direction
can
also
be
selected
with
a
movement
command
*
1
)
such
as
MOVA
which
specifies
a
target
position.
To
select
the
rotation
direction
opposite
the
return-to-origin
direction,
add
5000
°
to
the
target
point
for
point
setting.
To
select
the
same
rotation
direction
as
when
performing
return-to-origin,
add
5000
°
to
the
target
point
and
give
a
minus
sign
to
this
value.
When
the
rotation
direction
is
not
specified,
the
robot
moves
in
the
direction
of
shorter
distance.
For
example,
when
j
ust
30
°
is
specified
for
the
point
setting,
the
rotation
direction
differs
depending
on
the
current
position.
However,
when
5030
°
is
specified,
the
robot
always
rotates
in
the
direction
opposite
the
return-to-
origin
direction.
In
contrast,
when
-
5030
°
is
specified,
the
robot
always
rotates
in
the
same
direc-
tion
as
when
performing
return-to-origin.
In
the
case
of
a
movement
command
such
as
MOVI
which
specifies
the
amount
of
movement,
the
movement
direction
is
determined
by
the
plus
/
minus
sign
of
point
data,
j
ust
as
with
normal
move-
ment.
c
CAUTION
• The maximum distance of one movement is a distance equal to one cycle (360
°
). To move a distance longer
than one cycle, divide the movement distance into two or more portions.
• In limitless movement, @XINC (@XDEC) or @YINC (@YDEC) allows moving a distance equal to one cycle.
The movement speed setting and stop method are just the same as for normal movement.
• If the target point is the same as the current position on the program when executing a movement command
such as MOVA which specifies a position, the robot motion differs depending on whether the rotation
direction is selected by point setting, as follows:
When the rotation direction is selected: Rotates through 360
°
in the selected direction and stops.
When no rotation direction is selected: Does not move.
• Limitless movement cannot be performed in combination with the ACHA or ACHI statement.
• Use caution when operating the robot since the soft limits are disabled during limitless movement.
*
1
)
These
movement
commands
include
MOVA,
MOVF,
MOVD,
MOVM,
DRVA
and
DRVD
statements.
The
MOVD
and
DRVD
statements
are
provided
only
for
communication
commands
and
can
directly
specify
the
target
point.
8-3 Program Function
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