Yamaha SRCP manual Movm, Robot

		8-4 Robot Language Description
8-4-23 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
	2000 mm/sec. (when PRM44=2000).
Others:	• The MOVM statement performs calculation on the assumption that
	the robot operates on the Cartesian coordinate system.
	• Because only a single-axis robot is controlled with the SRCP series,
	the actual movement is linear even if a 2-dimensional matrix is de-
	fined.

8

ROBOT

CD

33 40

25 32

17 24

9									16
A	1	2	3	4	5	6	7	8	B

Example of pallet work position in 5 ⋅ 8 matrix

Work Position	Position No.
A: Reference point	1
B: End of row 1	8
C: End of column 1	33
D: Last point	40

LANGUAGE

8-19