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MOVEI 8-115
8
A
B
C
D
E
F
G
H
I
J
K
L
M
63
MOVEI
Point data setting types
●
Direct numeric value input
PTP
Linear interpolation
Format
p1 p2 p3 p4 p5 p6 f
Values
p1 to p6 .................................Space-separated coordinate values for each axis
f .............................................Hand system flag
Explanation
Directly specifies coordinate values by a numeric value. If an integer is
used, this is interpreted as "pulse" units, and if a real number is used, this is
interpreted as "mm/deg" units, with movement occurring accordingly.
Hand system flags can be specified for SCARA robots when directly specifying
the coordinate values in "mm" units.
To specify an extended hand system flag for SCARA robots, set either 1 or 2 at
"f". If a number other than 1 or 2 is set, or if no number is designated, 0 will be
set to indicate that there is no hand system flag.
1: Right-handed system is used to move to a specified position.
2: Left-handed system is used to move to a specified position.
• 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
MOVEI P, 10000 10000 1000 1000 0 0
........... From its current position, the axis of robot 1
moves (PTP movement) the specified amount (pulse
units).
NOTE
•
I f b o t h i n t e g e r s a n d
real numbers are used
t o g e t h e r ( m i x e d ) , a l l
coordinate values will
be handled in "mm/deg"
units.
CAUTION
•
When performing linear
interpolation with a hand
system flag specified,
be sure that the same
hand system is used at
the current position and
target position. If the
same hand system is not
used, an error will occur
and robot movement will
be disabled.
•
When performing a linear
interpolation, the current
position's first arm and
s e c o n d a r m r o t a t i o n
information must be the
same as the movement
destination's fir st ar m
and second arm rotation
information. If the two
are different, an error will
occur and movement will
be disabled.
MEMO
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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