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8-146 Chapter 8 Robot Language Lists
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PATH
Point data setting types
●
Direct numeric value input
Linear interpolation
Circular 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 data by a numeric value.
If an integer is used, this
is interpreted as "pulse" units, and if a real number (with decimal point) is used,
this is interpreted as "mm" units. If both integers and real numbers are used
together (mixed), all coordinate values will be handled in "mm" units.
With this format, only 1 point can be specified as the movement destination
coordinates. The only type of movement specified by this point data setting is linear
interpolation.
Hand system flags can be specified for SCARA robots when directly specifying the
coordinate data 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 set, 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.
The same hand system must always be used between a motion path's START and END points.
The hand system cannot be changed between these points.
Moreover, the first arm and second arm rotation information must be the same
throughout the movement path, from the path's START to END points. The first arm
and second arm rotation information cannot be changed at any point along the path.
• 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.
CAUTION
•
The hand system used
during PATH motion must
be the same as the hand
system used at the path
motion route's start point.
The same applies if the
path is to pass through
points where hand system
flags are set. Differing
hand systems will cause
a n e r ro r a n d d i s a b l e
motion.
•
The first arm and second
arm rotation information
during PATH movement
must be the same as the
first arm and second arm
rotation information at
the PATH movement's
START point. If the two are
different, an error will occur
and movement will be
disabled.
MEMO
Содержание SCARA YRCX Series
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