![background image](http://html.mh-extra.com/html/omron/scara-yrcx-series/scara-yrcx-series_programming-manual_1633413194.webp)
8-102 Chapter 8 Robot Language Lists
8
A
B
C
D
E
F
G
H
I
J
K
L
M
62
MOVE
SAMPLE
MOVE P,10000 10000 1000 1000 0 0
···················· PTP movement of robot 1 occurs from
current position to the specified
position.
MOVE P,100.0 100.0 50.0 45.0 0.0 0.0 2
···················· PTP movement of robot 1 occurs from
current position to the specified
position with Left-handed system.
MOVE P,-180.0 -430.0 50.0 180.0 0.0 0.0 1 -1 1
···················· PTP movement of robot 1 occurs from
current position to the specified
position (first arm: -180°to 360°,
second arm: 180° to 360°) with right-
handed system.
●
Point definition
PTP
Linear interpolation
Circular interpolation
Format
point expression , point expression...
Explanation
Specifies a <
point expression
>. Two or more data items can be designated by
separating them with a comma ( , ).
Circular interpolation must be specified by an even number of points.
• At SCARA robots with a hand system flag set in the movement destination's coordinate data, the
specified hand system will have priority over the current arm type or LEFTY/RIGHTY setting.
SAMPLE
MOVE P,P1 ···················· Robot 1 moves from the current position
to the position specified by P1.
MOVE P,P20,P0,P100 ··········· Robot 1 moves in sequence from the
current position to positions specified
by P20, P0, P100.
CAUTION
•
When moving the robot
b y l i n e a r o r c i r c u l a r
interpolation to a point
where a hand system flag
is specified, be sure that
the same hand system is
used at both the current
and target positions. If the
hand system are different,
an error will occur and
robot movement will be
disabled.
MEMO
CAUTION
•
When performing a linear
and circular interpolation,
t h e c u r re n t p o s i t i o n ' s
fi r s t a r m a n d s e c o n d
arm rotation information
must be the same as the
movement destination's
first arm and second arm
rotation information. If the
two are different, an error
will occur and movement
will be disabled.
Содержание SCARA YRCX Series
Страница 1: ... 7 6HULHV DW 1R 1 5 5RERW RQWUROOHU 352 5 00 1 0 18 6 5 5RERWV 5 6HULHV ...
Страница 2: ......
Страница 20: ......
Страница 26: ......
Страница 27: ...Chapter 2 Constants 1 1 Outline 2 1 2 2 Numeric constants 2 1 3 3 Character constants 2 2 ...
Страница 28: ......
Страница 32: ......
Страница 52: ......
Страница 54: ......
Страница 61: ...Chapter 5 Multiple Robot Control 1 1 Overview 5 1 2 2 Command list with a robot setting 5 2 ...
Страница 62: ......
Страница 66: ......
Страница 76: ......
Страница 78: ......
Страница 92: ......
Страница 328: ......
Страница 408: ......
Страница 409: ...Chapter 11 User program examples 1 1 Basic operation 11 1 2 2 Application 11 8 ...
Страница 410: ......
Страница 432: ......
Страница 488: ......
Страница 489: ...Chapter 13 Appendix 1 1 Reserved word list 13 1 2 2 Changes from conventional models 13 3 ...
Страница 490: ......
Страница 496: ......
Страница 497: ...Index ...
Страница 498: ......
Страница 504: ......
Страница 505: ......
Страница 506: ... DW 1R 1 XWKRUL HG LVWULEXWRU 3ULQWHG LQ XURSH ...