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Overview 9-1
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1
Overview
This function moves the robot at a specified speed along a path composed of linear and circular
segments. Because speed fluctuations during movement are minimal, the PATH function is ideal for
applications such as sealing, etc.
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Features
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Moves the robot at a constant speed along the entire movement path (except during acceleration
from a stop, and during deceleration just prior to the operation end).
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Permits easy point teaching because the robot speed is not affected by the point teaching
positions' level of precision.
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Permits movement speed changes for the entire movement path, or speed changes for only one
portion of the path (using the speed option).
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Using the DO option permits signal outputs to a specified port at any desired position during
movement.
3
How to use
The following robot language commands must be used as a set in order to use the PATH function.
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PATH SET ................................................. Starts path setting.
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PATH (PATH L, PATCH C) ....................... Specifies the path to be used.
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PATH END ............................................... Ends path setting.
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PATH START ............................................ Starts actual movement along the path.
As shown below, the motion path is specified between the PATH SET and PATH END statements.
Simply specifying a path, however, does not begin robot motion.
Robot motion only occurs when the PATH START statement is executed after the path setting
procedure has been completed.
SAMPLE
MOVE P,P0,Z=0
PATH SET
····················· Start of robot 1's path setting
PATH L,P1,DO(20)[email protected]
PATH L,P2
·
·
·
PATH C,P12,P13
PATH L,P14,DO(20)[email protected]
PATH END
····················· End of robot 1's path setting
MOVE P,P1,Z=0
·
·
•
MOVE P,P0,Z=0
PATH START ····················· Path motion of robot 1 is executed
HALT
Содержание SCARA YRCX Series
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