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8
8-52 Chapter 8 Robot Language Lists
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DRIVEI
Moves the specified robot axes in a relative manner
Format
DRIVEI [robot number] (axis number, expression),
(axis number, expression)..., option, option
Values
robot number
.........................1 to 4 (If not input, robot 1 is specified.)
axis number
...........................1 to 6
expression
..............................Target position (mm, deg, pulses) or point expression
Explanation
Executes relative movement, including the auxiliary axes.
• Movement type : PTP movement of a specified axis
• Point data setting : Direct coordinate data input, point definition
• Options :
Speed setting, STOPON conditions setting
• When DRIVEI motion to the original target position is interrupted and then restarted, the target
position for the resumed movement can be selected as the "MOVEI/DRIVEI start position" in the
controller's parameters. (For details, refer to the YRCX user's/ operator's manual.)
1) KEEP (default setting) Continues the previous (before interruption) movement. The original
target position remains unchanged.
2) RESET
Relative movement begins anew from the current position. The target
position before interruption is reset.
Movement type
●
PTP (point-to-point) of specified axis
PTP movement begins after positioning of all axes specified at <
axis number
> is complete (within
the tolerance range), and the command terminates when the specified axes enter the OUT
position range. When two or more axes are specified, they will reach their target positions
simultaneously.
If the next command following the DRIVEI command is an executable command such as a
signal output command, that next command will start when the movement axis enters the OUT
position range. In other words, that next command starts before the axis arrives within the
target position tolerance range.
Example:
Signal output (DO, etc.)
Signal is output when axis enters within OUT position range.
DELAY
DELAY command is executed and standby starts, when axis enters the
OUT position range.
HALT
Program stops and is reset when axis enters the OUT position range.
Therefore, axis movement also stops.
HALTALL
All programs in execution stop when axis enters the OUT position range,
task 1 is reset, and other tasks terminate. Therefore, the movement also
stops.
HOLD
Program temporarily stops when axis enters the OUT position range.
Therefore, axis movement also stops.
HOLDALL
All programs in execution temporarily stop when axis enters the OUT
position range. Therefore, the movement also stops.
WAIT
WAIT command is executed when axis enters the OUT position range.
MEMO
Содержание SCARA YRCX Series
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