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8-120 Chapter 8 Robot Language Lists
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MOVEI
SAMPLE
MOVEI P,P10,P11,CONT
········ From its current position, the axis of robot 1 moves
(PTP movement) the amount specified by P10, and then
moves the amount specified by P11 without waiting for
the moving axes to arrive in the tolerance range.
SAMPLE:MOVEI P CONT
P10
Current position
P11
OUT position range (*1)
*1: “CONT pulse range”
if the value is specified in the
CONT pulse parameter.
Next movement begins after
entering the OUT position range
P10
Current position
P11
OUT position range
Next movement begins after
entering the tolerance range
Tolerance range
With CONT setting:
Without CONT setting:
33815-R9-00
SAMPLE
MOVEI L,P10,CONT
MOVEI L,P11
········ From its current position, the axis of robot 1 moves
(linear interpolation movement) the amount specified by
P10. and then moves the amount specified by P11 without
waiting for the moving axes to arrive in the tolerance
range, and completes the movement within the tolerance
range.
• The interpolation movement with CONT setting doesn't stop at intermediate points in the
continuous movement.
SAMPLE:MOVEI L CONT
P10
P11
Next movement begins after
entering the deceleration zones
P10
P11
Next movement begins after
entering the tolerance range
Tolerance range
Deceleration zones
With CONT setting:
Without CONT setting:
33810-R9-00
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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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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