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MOVE 8-111
8
A
B
C
D
E
F
G
H
I
J
K
L
M
62
MOVE
●
Port output setting
PTP
Linear interpolation
Circular interpolation
Format 1
DO m(b,···,b)=expression 1 @ expression 2
MO
SO
Format 2
DO (mb,···,mb)=expression 1 @ expression 2
MO
SO
Values
m: port number .....................
b: bit definition ......................
expression 1
..........................
expression 2
..........................
2 to 7, 10 to 17, 20 to 27
0 to 7 (If omitted, all 8 bits are processed.)
If multiple bits are specified, they are expressed from
the left in descending order (high to low).
Value which is output to the specified port (only
integers are valid).
Position where the port output occurs. This position
can be specified in "mm" units down to the 3rd decimal
position.
Explanation
During linear interpolation or circular interpolation movement, this command
option outputs the value of <
expression 1
> to the specified port when the robot
reaches the <
expression 2
> distance (units: "mm") from the start position.
The <
expression 2
> numeric value represents a circle radius (not arc length)
centered on the movement START point.
This command option can only be used with linear or circular interpolation
movement, and it can be specified no more than 2 times per MOVE statement.
If no hardware port exists, nothing is output.
SAMPLE 1
MOVE P,P0
MOVE L,P1,DO2()[email protected]
··········· During linear interpolation movement of robot 1
to P1, 105 (&B01101001) is output to DO2() when
the robot reaches a distance of 25.85mm from
P0.
SAMPLE 2
A!=10
B!=20
MOVE L,P2,MO(22)=1@A!,MO(22)=0@B!
··········· After the
1 starts toward P2, MO(22)
switches ON when robot 1 leaves a distance of
10mm, and switches OFF when robot 1 leaves a
distance of 20mm.
Related commands
MOVEI, MOVET, DRIVE, DRIVEI, WAIT ARM
CAUTION
•
Output to ports "0" and "1"
is not allowed at DO, MO,
and SO.
REFERENCE
•
For bit setting details, see
Chapter 3 "10 Bit Settings".
Содержание SCARA YRCX Series
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