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PATH
Specifies the motion path
Format
PATH [robot number](axis number,...)
●
L , point definition , option, option...
C
Values
robot number
........................
axis number
...........................
1 to 4 (
1 to 6 (
If not input, robot 1 is specified.)
• Multiple axes specifiable
• If not input, all axes are specified.)
Explanation
Sets the motion path for the specified axis. This command can only be executed
between the PATH SET and PATH END commands. If execution is attempted
elsewhere, an error will occur.
• Movement type: Linear interpolation, circular interpolation
• Point setting:
Direct numeric value input, point definition
• Options:
Speed setting, coordinate plane setting (for circular interpolation
only), port output setting
PATH motion types
●
Linear interpolation movement
"PATH L…" is set for linear interpolation movement.
●
Circular interpolation movement
"PATH C…" is set for circular interpolation movement.
Only the X, Y and Z coordinate values of the specified points are valid for PATH motion. Any
other coordinates use the coordinate values of the PATH motion START point.
The motion path can be connected by repeated PATH commands ("PATH L", "PATH C") to
allow movement without stopping.
●
NOTE
•
W h e n " R " a x i s o n l y
i s s p e c i f i e d i n t h e
c o o r d i n a t e a t t r i b u t e
parameter, an error will
occur.
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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