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8
8-54 Chapter 8 Robot Language Lists
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30
DRIVEI
Point data setting types
●
Direct numeric value input
The target position is specified in <
expression
>.
If the target position's numeric value is a real number, this is interpreted as a "mm/ deg" units,
and each axis will move from its current position to a pulse-converted position.
SAMPLE
DRIVEI(1,10000) ·············· From its current position, the axis 1
of robot 1 moves a distance of "+10000
pulses".
DRIVEI(4,90.00) ·············· From its current position, the axis 4
of robot 1 moves +90°(when axis 4 is a
rotating axis).
●
Point definition
Point data is specified in <
expression
>. The axis data specified by the <
axis number
> is used.
From its current position, the axis moves the distance specified by the point in a relative
manner.
If the point expression is in "mm/ degrees" units, movement for each axis occurs from the
0-pulse position to the pulse-converted position.
SAMPLE
DRIVEI(1,P1) ················· The axis 1 of robot 1 moves from its
current position the distance specified
by P1.
DRIVEI(4,P90) ················· The axis 4 of robot 1 moves from its
current position the number of degrees
specified by P90 (when axis 4 is a
rotating axis).
NOTE
•
If point data is specified
with both integers and
real numbers in the same
statement, all values are
handled in "mm/degrees"
units.
Содержание SCARA YRCX Series
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