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DRIVE
The WAIT ARM statement is used to execute the next command after the axis enters the
tolerance range.
P1
DO(20) turns ON
DRIVE(1,P1)
WAIT ARM
DO(20)=1
DO(20) turns ON
DRIVE(1,P1)
DO(20)=1
Tolerance
Target position
OUT position
HOLD execution
(program temporarily stops)
DRIVE(1,P1)
WAIT ARM
HOLD
DRIVE(1,P1)
HOLD
Tolerance
OUT position
Target position
HOLD execution
(program temporarily stops)
DRIVE command
33819-R7-00
SAMPLE
DRIVE(1,P0) ··················· Axis 1 of robot 1 moves from its
current position to the position
specified by P0.
Point data setting types
●
Direct numeric value input
The target posotion is specified directly in <
expression
>.
If the numeric value is an integer, this is interpreted as "pulse" units. If the numeric value is
a real number, this is interpreted as "mm/degrees" units, and each axis will move from the
0-pulse position to a pulse-converted position.
However, when using the optional XY setting, movement occurs from the Cartesian coordinate
origin position.
SAMPLE
DRIVE(1,10000) ··············· Axis 1 of robot 1 moves from its
current position to the 10000 pulses
position.
DRIVE(2((2,90.00) ············ Axis 2 of robot 2 moves from its
current position to a position which
is 90° in the plus-direction from the
0-pulse position.
Содержание SCARA YRCX Series
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Страница 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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