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8-106 Chapter 8 Robot Language Lists
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62
MOVE
• When multiple points are specified in PTP movement, the axis in arch motion setting also
moves to the target position.
PTP
movement
P11
P10
All axes move to P10.
A3=0
MOVE P, P10, P11, A3 = 0
●
STOPON condition setting
PTP
linear interpolation
Circular interpolation
Format
STOPON conditional expression
Explanation
Stops movement when the conditions specified by the conditional expression
are met. Because this is a deceleration type stop,
there will be some movement
(during deceleration) after the conditions are met.
If the conditions are already met before movement begins, no movement
occurs, and the command is terminated.
This option can only be used for PTP movement and linear interpolation
movement.
This option is only possible by program execution.
SAMPLE
MOVE P,P100,STOPON DI(20)=1
···················· R o b o t 1 m o v e s f r o m t h e c u r r e n t
position to the position specified by
P100. If the "DI (20) = 1" condition
is met during movement, a deceleration
and stop occurs, and the next step is
then executed.
• When the conditional expression used to designate the STOPON condition is a numeric
expression, expression value other than “0” indicates a TRUE status, and “0” indicates a FALSE
status.
MEMO
CAUTION
•
Addition of the STOPON
condition setting disables
the CONT setting in the
P T P m o v e m e n t a n d
the linear interpolation
movement.
MEMO
Содержание SCARA YRCX Series
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