Yamaha ERCX Series, User Manual

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8-
37
8
ROBOT LANGUAGE
8-5 Sample Programs
8-5-10 Limitless movement at same pitch
The robot moves continuously in the same direction at the same pitch (e.g. 150mm) for cycle con-
veyor applications.
M
150mm
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Make the following settings in advance to enable the limitless movement function.
• Set the position data unit parameter to 2.
• Set the plus soft limit to 200. This is a multiple of the lead equivalent value. (The
lead equivalent value is assumed to be 20mm.)
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Set P0=0, P1=150 in advance in PNT(point) mode.
Program Comment
[NO0]
001: MOVA 0, 100
; Moves to P0 at speed 100
002: L 0
; Label definition
003: MOVI 1, 100
; Moves 150mm
004: JMP 0, 0
; Jumps to L0