![background image](http://html.mh-extra.com/html/omron/scara-yrcx-series/scara-yrcx-series_programming-manual_1633413256.webp)
8-164 Chapter 8 Robot Language Lists
88
N
O
P
Q
R
S
T
U
V
W
X
Y
Z
84
PMOVE
Option types
●
Speed setting
PTP
Format
1.
SPEED =expression
2.
S =expression
Values
expression
..............................1 to 100 (units: %)
Explanation
Specifies the program speed in an <
expression
>. The movement speed is the
automatic movement speed multiplied by the program movement speed.
This option is enabled only for the specified PMOVE statement.
SAMPLE
PMOVE(1,3),S=10
Robot 1 moves from its current position
to the position specified by pallet
position number 3 of pallet definition
number 1, at 10% of the program speed.
●
Arch motion setting
PTP
Format
x =expression, x =expression...
Values
x ............................................
expression
.............................
Specifies the Z,R,A,B axis.
An integer value is processed in "pulse" units.
A real number (with decimal point) is process
in "mm/deg" units.
Explanation
1. The "x" specified axis begins moving toward the position specified by the
<
expression
> ("1" shown in the figure below).
2. When the axis specified by "x" moves the arch distance 1 or more, other axes
move to their target positions ("2" shown in the figure below).
3. The axis specified by "x" moves to the target position so that the remaining
movement distance becomes the arch distance 2 when the movement of other
axes is completed ("3" shown in the figure below).
4. The command ends when all axis enter the OUT position range.
SAMPLE
PMOVE(1,A),Z=0
First the Z-axis of robot 1 moves from the current
position to the "0 pulse" position. Then the other
axes of robot 1 move to the position specified by
pallet position number A of pallet definition number
1. Finally the Z-axis of robot 1 moves to the
position specified by pallet position number A.
NOTE
•
This option specifies only
t h e m a x i m u m s p e e d
and does not guarantee
m o v e m e n t a t t h e
specified speed.
Содержание SCARA YRCX Series
Страница 1: ... 7 6HULHV DW 1R 1 5 5RERW RQWUROOHU 352 5 00 1 0 18 6 5 5RERWV 5 6HULHV ...
Страница 2: ......
Страница 20: ......
Страница 26: ......
Страница 27: ...Chapter 2 Constants 1 1 Outline 2 1 2 2 Numeric constants 2 1 3 3 Character constants 2 2 ...
Страница 28: ......
Страница 32: ......
Страница 52: ......
Страница 54: ......
Страница 61: ...Chapter 5 Multiple Robot Control 1 1 Overview 5 1 2 2 Command list with a robot setting 5 2 ...
Страница 62: ......
Страница 66: ......
Страница 76: ......
Страница 78: ......
Страница 92: ......
Страница 328: ......
Страница 408: ......
Страница 409: ...Chapter 11 User program examples 1 1 Basic operation 11 1 2 2 Application 11 8 ...
Страница 410: ......
Страница 432: ......
Страница 488: ......
Страница 489: ...Chapter 13 Appendix 1 1 Reserved word list 13 1 2 2 Changes from conventional models 13 3 ...
Страница 490: ......
Страница 496: ......
Страница 497: ...Index ...
Страница 498: ......
Страница 504: ......
Страница 505: ......
Страница 506: ... DW 1R 1 XWKRUL HG LVWULEXWRU 3ULQWHG LQ XURSH ...