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MOVE 8-103
8
A
B
C
D
E
F
G
H
I
J
K
L
M
62
MOVE
Option types
●
Speed setting 1
PTP
Linear interpolation
Circular interpolation
Format
1.
SPEED =expression
2.
S =expression
Values
expression
..............................1 to 100 (units: %)
Explanation
Specifies the program speed in an <
expression
>.
The actual speed will be as follows:
• [Robot max. speed (mm/sec)] × [automatic movement speed (%)] × [program
movement speed (%)].
This option is enabled only for the specified MOVE statement.
SAMPLE
MOVE P,P10,S=10 ·············· Robot 1 moves from the current position
to the position specified by P10, at
10% of the program movement speed.
●
Speed setting 2
●
PTP
Linear interpolation
Circular interpolation
Format
1.
DSPEED =expression
2.
DS =expression
Values
expression
..............................0.01 to 100.00 (units: %)
Explanation
Specifies the program speed in an <
expression
>.
The actual speed will be as follows:
• [Robot max. speed (mm/sec or deg/sec)] × [movement speed (%)].
This option is enabled only for the specified MOVE statement.
• Movement always occurs at the DSPEED <
expression
> value (%)
without being affected by the automatic movement speed value (%).
SAMPLE
MOVE P,P10,DS=0.1 ············ Robot 1 moves from the current position
to the position specified by P10, at 0.1%
of the Robot maximum speed.
NOTE
•
This option specifies only
t h e m a x i m u m s p e e d
and does not guarantee
movement at the specified
speed.
NOTE
•
SPEED option and DSPEED
option cannot be used
together.
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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