Yamaha SRCP Manual de usuario descargar pdf (Pagina 104)

8-6

ROBOT LANGUAGE

8-4 Robot Language Description

8-4-1 MOVA

Function: Moves to a point specified by a point number (Moves to an absolute

position relative to the origin point).

Format: MOVA <point number>, <maximum speed>

Example: MOVA 51, 80

Moves to P51 at speed 80.

Explanation: This command moves the robot to a position on the absolute coordinates

whose origin position is defined as 0.

The robot starts moving when all axes enter the positioning-completed

pulse range, and stops when all axes reach the OUT valid position.

(1) Point number

The point number is a number designated to each point from 0 to

999, a total of 1000 points, and used to create point date in PNT

(point) mode. When a character "P" is entered here for special use, a

point variable defined by the "P" statement is set as the point number.

(See "8-4-12 P".)

(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

2000 mm/sec. (when PRM44=2000).

8-4-2 MOVI

Function: Moves a distance specified by a point number from the current position.

Format: MOVI <point number>, <maximum speed>

Example: MOVI 10, 80

Moves an amount equal to point data P10 from the current position at

speed 80.

Explanation: This command moves the robot on the relative coordinates with the cur-

rent position viewed as 0.