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8
8-222 Chapter 8 Robot Language Lists
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TOLE
Specifies/acquires the tolerance parameter
Format
1. TOLE [robot number] expression
2. TOLE [robot number] (axis number) =expression
Values
robot number
..............1 to 4 (If not input, robot 1 is specified.)
axis number
................1 to 6
expression
................... Varies according to the motor which has been specified (unit: pulse)
Explanation
Change the "tolerance" parameter of the specified axis to the <
expression
> value (unit:
pulse).
Format 1: The change is applied to all axes of the specified robot.
Format 2: The change is applied to only the axis specified by the <
axis number
> of
the specified robot.
• This statement is executed after positioning of the specified axes is complete (within the tolerance range).
Functions
Format
TOLE [robot number] (axis number)
Values
robot number
.........................1 to 4 (If not input, robot 1 is specified.)
axis number
...........................1 to 6
Explanation
Acquires the "tolerance" parameter values for the axis specified by <
axis number
>.
SAMPLE
’CYCLE WITH DECREASING TOLERANCE
DIM TOLE(5)
FOR A=200 TO 80 STEP -20
GOSUB *CHANGE_TOLE
MOVE P,P0
MOVE P,P1
NEXT A
C=TOLE(2) ····················· The tolerance parameter of axis 2 of robot 1
is assigned to variable C.
HALT
*CHANGE_TOLE:
FOR B=1 TO 4
TOLE(B)=A
NEXT B
RETURN
MEMO
Содержание SCARA YRCX Series
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