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8-10 Chapter 8 Robot Language Lists
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Robot control
Robot operations
No.
Command
Description
Online
Type
29
DRIVE
Moves a specified axis of a specified robot to an absolute position.
3
Command
30
DRIVEI
Moves a specified axis of a specified robot to a relative position.
3
Command
61
MOTOR
Controls the motor power status.
3
Command
62
MOVE
Performs absolute movement of all axes of a specified robot.
3
Command
63
MOVEI
Performs relative movement of all axes of a specified robot.
3
Command
64
MOVET
Performs relative movement of all axes of a specified robot
when the tool coordinate is selected.
3
Command
74
ORIGIN
Performs return-to-origin.
3
Command
84
PMOVE
Executes the pallet movement command of a specified
robot.
3
Command
94
PUSH
Executes a pushing operation in the axis unit.
3
Command
106 SERVO
Controls the servo ON/OFF of a specified axis or all axes of
a specified robot.
3
Command
Status acquisition
No.
Command
Description
Online
Type
2
ABSRPOS
Acquires the machine reference value for specified robot
axes. (Valid only for axes whose return-to-origin method is
set as "mark".)
3
Function
5
ARMCND
Acquires the current arm status of a specified robot.
3
Function
6
ARMSEL
Specifies/acquires the current "hand system" setting of a
specified robot.
3
Command /
Function
7
ARMTYP
Specifies/acquires the "hand system" setting of a specified
robot.
3
Command /
Function
17
CURTQST
Acquires the current torque value ratio of a specified axis to
the rated torque.
3
Function
58
MCHREF
Acquires the return-to-origin or absolute-search machine
reference value for specified robot axes. (Valid only for axes
whose return-to-origin method is set as "sensor" or "stroke-
end".)
3
Function
65
MTRDUTY
Acquires the motor load factor of the specified axis.
3
Function
91
PSHRSLT
Acquires the status at the end of the PUSH statement.
3
Function
92
PSHSPD
Specifies/acquires the push speed parameter.
3
Command /
Function
93
PSHTIME
Specifies/acquires the push time parameter.
3
Command /
Function
138 WAIT ARM
Waits until the axis operation of a specified robot is completed.
-
Command
141 WHERE
Reads out the current position of the arm of a specified
robot in joint coordinates (pulse).
3
Function
143 WHRXY
Reads out the current position of the arm of a specified
robot as Cartesian coordinates (mm, degrees).
3
Function
Status change
No.
Command
Description
Online
Type
3
ACCEL
Specifies/acquires the acceleration coefficient parameter of
a specified robot.
3
Command /
Function
4
ARCHP1
Specifies/acquires the arch position 1 parameter of a
specified robot.
3
Command /
Function
Содержание SCARA YRCX Series
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