Omron SCARA YRCX Series, Руководство по программированию

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MOVEI 8-119
8
A
B
C
D
E
F
G
H
I
J
K
L
M
63 MOVEI
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CONT setting
PTP Linear interpolation
Format
CONT
Explanation When movement is executed with CONT setting option, Movable axes will begin
to execute the next command without waiting the completion their movement
(entering the tolerance range). If the next command is a movement command, the
2 movement paths are linked by connecting the deceleration and acceleration
sections, enabling continuous movement without intermediate stops.
This option is enabled only for the specified MOVEI statement.
●
Caution regarding MOVEI L command with CONT setting:
If the next command following the MOVEI L command with CONT setting is an executable
command such as a signal output command, that next command will start immediately after
axis movement begins. In other words, that next command starts before the axis arrives within
the target position tolerance range.
Example:
Signal output (DO, etc.) Signal is output immediately after movement along the final path begins.
DELAY
DELAY command is executed and standby starts immediately after
movement along the final path begins.
HALT
Program stops and is reset immediately after movement along the final path
begins. Therefore, axis movement also stops.
HALTALL
All programs in execution stop immediately after movement along the
final path begins, task 1 is reset, and other tasks terminate. Therefore, the
movement also stops.
HOLD
Program temporarily stops immediately after movement along the final path
begins. Therefore, axis movement also stops.
HOLDALL
All programs in execution temporarily stop immediately after movement
along the final path begins. Therefore, the movement also stops.
WAIT WAIT command is executed immediately after movement along the final path begins.
P1
MOVEI command
DO(20) turns ON
MOVEI L,P1
CONT
DO(20)=1
DO(20) turns ON
MOVEI L,P1
DO(20)=1
Tolerance
Final target position
HOLD execution
(program temporarily stops)
MOVEI L,P1
CONT
HOLD
MOVEI L,P1
HOLD
Tolerance
Final target position
HOLD execution
(program temporarily stops)
33814-R9-00
CAUTION
• In YRCX, the motion of
interpolation movement
c o m m a n d a n d E N D
condition are different
from conventional model.
Addition of the CONT
setting to the movement
command allows to the
equivalent movement
and END condition in
c o n v e n t i o n a l m o d e l .
NOTE
• The CONT setting can
b e u s e d t o r e d u c e
t h e m ove m e n t S TA R T
positioning time.