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5-2 Chapter 5 Multiple Robot Control
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Command list with a robot setting
The special commands and functions for robot movements and coordinate control are common
for all robots. A robot can be specified with an option of a command. Main commands are shown
below.
Operator
Command name
Robot movement
DRIVE
MOVE
MOVET
PMOVE
WAIT ARM
DRIVEI
MOVEI
PATH
SERVO
Coordinate control
CHANGE
LEFTY
RIGHTY
HAND
PATH
SHIFT
Status change
ACCEL
ARCHP2
ARMTYP
AXWGHT
MSPEED
OUTPOS
TOLE
ARCHP1
ARMSEL
ASPEED
DECEL
ORGORD
SPEED
WEIGHT
Point operation
JTOXY
XYTOJ
WHERE
WHRXY
Parameter reference
ACCEL
ARCHP2
AXWGHT
ORGORD
TOLE
ARCHP1
ARMTYP
DECEL
OUTPOS
WEIGHT
Status reference
ABSRPOS
ARMSEL
CURTQST
MCHREF
WHRXY
ARMCND
ARMTYP
CURTRQ
WHERE
Torque control
TORQUE
TRQTIME
TRQSTS
CURTRQ
■
An axis specified as an auxiliary axis cannot be moved with the MOVE, MOVEI, MOVET and
PMOVE commands. Use the DRIVE or DRIVEI command to move it.
Содержание SCARA YRCX Series
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