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PATH
SAMPLE
PATH L,10000 10000 1000 1000 0 0
···················· Sets the linear interpolation movement
path of robot 1 in "pulse" units.
PATH L,150.000 250.000 10.000 30.000 0.000 0.000 1
···················· The linear interpolation movement path
of robot 1 is set in the coordinate
values specified by the right-handed
system in "mm" units.
●
Point definition
Linear interpolation
Circular interpolation
Format
point definition , point definition...
Explanation
Specifies the movement destination as <
point expression
> value. Two or more
data items can be designated by separating them with a comma ( , ).
For circular interpolation movement, 2 points must be specified for each arc.
• 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
PATH L,P1,P2,P3 ··············· S p e c i f i e s s e q u e n t i a l l i n e a r
interpolation movement of robot 1 from
its current position to the positions
specified by P1, P2 and P3 from its
current position.
PATH C P5,P6,P7,P8 ············ S p e c i f i e s c i r c u l a r i n t e r p o l a t i o n
m o v e m e n t o f r o b o t 1 t h r o u g h t h e
following points: current position,
P5, P6, and P6, P7, P8.
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.
MEMO
CAUTION
•
The first arm and second
arm rotation information
during PATH movement
mu s t b e t h e s a m e a s
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.
Содержание SCARA YRCX Series
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