8-4 Robot Language Description

8-4 Robot Language Description

8

ROBOT LANGUAGE

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.

 

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).

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Yamaha SRCP manual Robot Language Description, Mova, Movi