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8-110 Chapter 8 Robot Language Lists
8
A
B
C
D
E
F
G
H
I
J
K
L
M
62
MOVE
●
Coordinate plane setting
PTP
Linear interpolation
Circular interpolation
Format
XY
YZ
ZX
Values
XY ..........................................XY coordinate plane
YZ ..........................................YZ coordinate plane
ZX ..........................................ZX coordinate plane
Explanation
When circular interpolation is executed by setting coordinates, this option
executes circular interpolation so that the projection on the specified coordinate
plane becomes a circle.
This option can be used for circular interpolation movement and is enabled only
for the specified MOVE statement.
SAMPLE
P10 = 100.000 100.000 20.000 0.000 0.000 0.000
P11 = 150.000 100.000 0.000 0.000 0.000 0.000
P12 = 150.000 150.000 20.000 0.000 0.000 0.000
P13 = 100.000 150.000 40.000 0.000 0.000 0.000
MOVE P,P10 ···················· Robot 1 moves from the current position to the
position specified by P10.
MOVE C,P11,P12
MOVE C,P13,P10 ················ Moves continuously along a 3-dimensional
circle generated at P10, P11, P12, and P12,
P13, P10 ········ (1)
MOVE C,P11,P12,XY
MOVE C,P13,P10,XY ············· Moves continuously along a circle on an XY
plane generated at P10, P11, P12, and P12, P13,
P10. Z-axis moves to the position specified by
P12 and P10 (the circle's target position)
(2)
SAMPLE: MOVE C coordinate plane
Y
+
150
100
150
P11
P12
P13
(1)
X
+
→
→
Z
+
P10
P10 120
140
(2)
33822-R9-00
NOTE
•
If no coordinate plane is
specified, the robot moves
along a 3-dimensional
circle.
•
When a 2-axis robot is
used, the robot moves
along a circle on the XY
plane.
Содержание SCARA YRCX Series
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