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MOVE 8-99
8
A
B
C
D
E
F
G
H
I
J
K
L
M
62
MOVE
SAMPLE
MOVE P,P0 ···················· Robot 1 moves from its current position
to the position specified by P0. (the
same occurs for MOVE PTP, P0).
• PTP movement is faster than interpolation movement, but when executing continuous
movement to multiple points, a positioning stop occurs at each point.
●
Linear interpolation movement
Execution START condition: Movement of all specified axes is complete (within the tolerance range).
Execution END condition: Movement of all specified axes has begun (within the tolerance range).
All movement axes arrive at the same time.
• On robots with an R-axis, the R-axis speed may become too fast and cause an error, depending
on the R-axis movement distance.
SAMPLE
MOVE L,P0,P1 ·················· The robot 1 moves (linear interpolation
movement) from its current position to
the position specified by P0, P1.
SAMPLE:MOVE L
P0
Current position
P1
Tolerance range
33810-R7-00
MEMO
CAUTION
•
In YRCX, the motion of
interpolation movement
c o m m a n d a n d E N D
condition are different
from conventional model.
Addition of the CONT
setting to the movement
command allows to the
equivalent movement
and END condition in
conventional model.
MEMO
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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Страница 61: ...Chapter 5 Multiple Robot Control 1 1 Overview 5 1 2 2 Command list with a robot setting 5 2 ...
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Страница 409: ...Chapter 11 User program examples 1 1 Basic operation 11 1 2 2 Application 11 8 ...
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Страница 489: ...Chapter 13 Appendix 1 1 Reserved word list 13 1 2 2 Changes from conventional models 13 3 ...
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