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DRIVEI 8-53
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DRIVEI
The WAIT ARM statement are used to execute the next command after the axis enters the
tolerance range.
P1
DRIVEI command
WAIT ARM statement
DO(20) turns ON
DRIVEI(1,P1)
WAIT ARM
DO(20)=1
DO(20) turns ON
DRIVEI(1,P1)
DO(20)=1
Tolerance
Target position
OUT position
HOLD execution
(program temporarily stops)
DRIVEI(1,P1)
WAIT ARM
HOLD
DRIVEI(1,P1)
HOLD
Tolerance
OUT position
Target position
HOLD execution
(program temporarily stops)
33820-R7-00
Limitless motion related cautions
• When the "limitless motion" parameter is enabled, the DRIVEI statement soft limit
check values are as follows:
Plus-direction soft limit:
99,999,999 [pulse]
Minus-direction soft limit:
-99,999,999 [pulse]
• When using the DRIVEI statement, the above values represent the maximum movement distance
per operation.
SAMPLE
DRIVEI(1,P0) ···················· The axis 1 of robot 1 moves from its
current position to the amount of
distance specified by P0.
Содержание SCARA YRCX Series
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