Denso RC5 Dokumentacja Pobierz pdf (Strona 291)

100

101

Chapter 12 Robot Control Statements

12-15

The value of <Path start displacement> is expressed using the radius of the

globe with the designated coordinates centered. If the motion instruction value

is entered, the robot proceeds to the next control. Designate the value in

millimeters. This value aims to change the pass start timing, and if the end of

the arm enters the globe, the robot does not always proceed to the next

control.

If the value is ignored, it is processed as the default value @0.

If the value is @0, the robot moves in the end movement.

If @P, it moves in the pass movement.

If @E, the robot checks the arrival at the target position with the value of the

encoder and then proceeds to the next movement.

For <Motion option>, there are SPEED, ACCEL, and DECEL options.

Motion option Meaning

SPEED (or S) Designates the movement speed. The meaning is

the same as the SPEED statement.

ACCEL Designates acceleration. The meaning is the same

as ACCEL or JACCEL statement. However,

deceleration cannot be designated. Use the

DECEL statement to designate deceleration.

DECEL Designates deceleration. The meaning is the same

as the DECEL statement.

If <NEXT option> is added, the robot proceeds to the next no-movement

instruction without waiting for movement to finish. However, the following

instructions are not executed until robot movement ends (pass start).

Robot motion instructions (CHANGETOOL, CHANGEWORK, SPEED,

JSPEED, ACCEL, JACCEL, DECEL, JDECEL), optimal carrying mass setting

library (aspACLD, aspChange), arm movement library (mvSetPulseWidth, etc.)

If this command is used with the movement option, the NEXT option is no

longer valid. When <NEXT option> is added and if step stop is executed in the

waiting status for the next movement instruction, the robot will stop after

movement ends. Care should therefore exercised since it requires a long

distance to stop.

Expressions such as MOVE P,P[3 TO 5] or MOVE P,P3,P6,P9 have the same

expression as

MOVE P,P[3 TO 5] → MOVE P, P3, NEXT

MOVE P, P4, NEXT

MOVE P, P5

MOVE P,P3,P6,P9 → MOVE P, P3, NEXT

MOVE P, P6, NEXT

MOVE P, P9

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