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MOVET 8-123
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A
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64
MOVET
Movement type
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PTP (point-to-point) movement
Execution START condition: Movement of all specified axes is complete (within the tolerance range).
Execution END condition: All specified axes have entered the OUT position range.
When two or more axes are specified, they will reach their target positions simultaneously. The
movement path of the axes is not guaranteed.
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Caution regarding commands which follow the MOVET P command:
If the next command following the MOVET P command is an executable command such as
a signal output command, that next command will start when the movement axis enters the
OUT position range. In other words, that next command starts before the axis arrives within the
target position tolerance range.
Example:
Signal output (DO, etc.)
Signal is output when the axis enters within OUT position range.
DELAY
DELAY command is executed and standby starts, when the axis enters the
OUT position range.
HALT
Program stops and is reset when the axis enters the OUT position range.
Therefore, the axis movement also stops.
HALTALL
All programs in execution stop when the axis enters the OUT position range,
task 1 is reset, and other tasks terminate. Therefore, the movement also
stops.
HOLD
Program temporarily stops when the axis enters the OUT position range.
Therefore, the axis movement also stops.
HOLDALL
All programs in execution temporarily stop when the axis enters the OUT
position range. Therefore, the movement also stops.
WAIT
WAIT command is executed when the axis enters the OUT position range.
The WAIT ARM statements are used to execute the next command after the axis enters the tolerance range.
• The OUT position value is specified by parameter setting.
This value can be changed within the program by using the OUTPOS command.
P1
MOVET command
DO(20) turns ON
MOVET P,P1
WAIT ARM
DO(20)=1
DO(20) turns ON
MOVET P,P1
DO(20)=1
Tolerance
Target position
OUT position
HOLD execution
(program temporarily stops)
MOVET P,P1
WAIT ARM
HOLD
MOVET P,P1
HOLD
Tolerance
OUT position
Target position
HOLD execution
(program temporarily stops)
33826-R7-00
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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