Yamaha DRCX, Руководство пользователя

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8-
18
ROBOT LANGUAGE
8-4 Robot Language Description
8
8-4-19 MOVM
Function: Moves to a point on the specified matrix.
Format: MOVM <pallet work position>, <maximum speed>
Example: MOVM 23, 100
Moves to the point at row 3, column 7 at speed 100 when a matrix of 5
×
8 is defined by the MAT statement.
Explanation: This command moves the robot to each point on a matrix specified by
the MSEL statement.
This command allows the robot to start moving when all axes are within
the "positioning-completed pulse" range. This command ends when all
axes enter the OUT valid position.
(1) Pallet work position
The pallet work position is a number used to identify each point on a
matrix, and can be from 1 to 65025 (=255
×
255). For example, on a
"row M, column N" matrix, the pallet work position at "row A, col-
umn B" is found by (A–1)
×
N+B. When a character "C" or "D" is
entered here for special use, a counter variable is set in each pallet
work position.
(2) Maximum speed
The maximum speed can be set to any level between 1 and 100. If
the execution speed in OPRT mode is 100, then 100 will be equal to
3000 rpm (when PRM64 and PRM104=3000).
Others: • The MOVM statement performs calculation on the assumption that
the robot operates on the Cartesian coordinate system. Because SCARA
robots operate on a joint coordinate system, the desired motion cannot
be obtained.
Example of pallet work position in 5
×
8 matrix
A
B
C
D
40
32
24
16
33
25
17
9
1 2 3 4 5 6 7 8
1
8
33
40
Position No. Work Position
A: Reference point
B: End of row 1
C: End of column 1
D: Last point
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