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PATH SET 8-153
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PATH SET
●
Direct numeric value input
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 the path's start-point coordinates for PATH motion. If an integer
is used, this is interpreted as "pulse" units, and if a real number is used, this is
interpreted as "mm" units (valid down to the 3rd decimal position).
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:
Indicates that a right-handed system is specified for the PATH motion's start-point.
2:
Indicates that a left-handed system is specified for the PATH motion's start-point.
• 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 SET 120 250.000 55.2 20.33 0 0
···················· The PATH motion's start-point of robot
1 is specified in "mm" units as follows:
120.000 250.000 55.200 20.330 0.000
0.000.
PATH SET -51200 80521 7045 204410 0 0
···················· The PATH motion's start-point of robot
1 is specified in "pulse" units.
NOTE
•
I f b o t h i n t e g e r s a n d
real numbers are used
t o g e t h e r ( m i x e d ) , a l l
coordinate values will
be handled in "mm/deg"
units.
CAUTION
•
The hand system used
d u r i n g PA T H m o t i o n
must be the same hand
system as that at the PATH
motion's start-point. An
error will occur if the hand
systems are different.
•
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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