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8
DRIVE 8-51
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DRIVE
●
STOPON condition setting
Format
STOPON conditional expression
Explanation
Stops movement when the conditions specified by the <
conditional expression
>
are met.
Because this is a deceleration type stop, there will be some movement
(during deceleration) after the conditions are met.
If the conditions are already met before movement begins, no movement occurs,
and the command is terminated.
This option is enabled only during program execution.
SAMPLE
DRIVE(1,10000),STOPON DI(20)=1
··········· Axis 1 of robot 1 moves from its current
position toward the "10000 pulses" position and
stops at an intermediate point if the "DI (20)
= 1" condition is met. The next step is then
executed.
• When the conditional expression used to designate the STOPON condition is a numeric
expression, expression value other than “0” indicates a TRUE status, and "0" indicates a FALSE
status.
●
XY setting
Format
XY
Explanation
Moves multiple specified axes to a position specified by Cartesian coordinates.
All the specified axes arrive at the target position at the same time.
If all axes which can be moved by MOVE statement have been specified,
operation is identical to that which occurs when using MOVE statement.
The following restrictions apply to this command:
1. Axes specified by <
axis number
> must include the axis 1 and 2.
2.
This command can be specified at SCARA robots with X and Y- axes.
3. Point settings must be in "mm" or "deg" units (real number setting).
SAMPLE
DRIVE(1,P100),(2,P100),(4,P100),XY
··········· The axis 1, 2 and 4 of robot 1 move from their
current positions to the Cartesian coordinates
position specified by P100.
MEMO
Содержание SCARA YRCX Series
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