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8-166 Chapter 8 Robot Language Lists
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85
Pn
Defines points within a program
Format
LET Pn = p1 p2 p3 p4 p5 p6 f
Values
n ............................................Point number: 0 to 29999.
p1 to p6 .................................Point data: the range varies according to the format.
f .............................................Hand system flag: 1 or 2.
Explanation
Defines the point data.
1. "n" indicates the point number.
2. Input data for "p1" to "p6" must be separated with a space (blank).
3. If all input data for "p1" to "p6" are integers (no decimal points), the movement
units are viewed as "pulses". "p1" through "p6" then correspond to axis 1 through
axis 6.
4.
If there is even 1 real number (with decimal point)
in the input data for "p1"
through "p6",
the movement units are recognized as "mm".
5. The input data ranges are as follows:
For "pulse" units: -6,144,000 to 6,144,000 range
For "mm" units: -99,999.99 to 99,999.99 range
Hand system flags can be specified for SCARA robots when specifying point definition
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 designated, 0 will be set, indicating
that there is no hand system flag.
1: Indicates a right-handed system point setting.
2: Indicates a left-handed system point setting.
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.
Содержание SCARA YRCX Series
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