11-5 Communication Command Description

(9)@MOVA <point number>,<speed>

Moves the robot to a position specified by a point number at a specified speed.

Point number

: This is a number assigned to each point (position data) and can

 

be from 0 to 999 (a total of 1,000 points). Data for the point

 

numbers can be edited with the @WRITE PNT statement. The

 

point variable "P" can also be used.

Speed

: The speed can be set to any level between 1 and 100. If PRM30

 

(Maximum program speed) is 100, then 100 will be equal to 2000

 

mm/sec (when PRM44=2000).

 

Transmission example

: @MOVA 123,100 c/r l/f

Moves the robot to point 123

 

 

 

at 100% speed.

Response example 1

: OK c/r l/f

 

 

Response example 2

: NG c/r l/f

The target position exceeds the

 

30: soft limit over

c/r l/f

soft limit. Change the point

 

 

 

data or soft limit parameter.

(10)@MOVI <point number>,<speed>

Moves the robot a distance specified by a point number from the current position, at a specified speed.

Point number

: This is a number assigned to each point (position data) and can

 

 

be from 0 to 999 (a total of 1,000 points). Data for the point

 

 

numbers can be edited with the @WRITE PNT statement. The

 

 

point variable "P" can also be used.

 

Speed

: The speed can be set to any level between 1 and 100. If PRM30

11

 

(Maximum program speed) is 100, then 100 will be equal to 2000

 

mm/sec (when PRM44=2000).

Transmission example

: @MOVI 123,100 c/r l/f

Moves the robot a distance

 

 

 

defined by point 123, at 100%

 

 

 

speed.

Response example 1

: OK c/r l/f

 

 

Response example 2

: NG c/r l/f

The target position exceeds the

 

30: soft limit over

c/r l/f

soft limit. Change the point

 

 

 

data or soft limit parameter.

c CAUTION

When movement is interrupted with a stop (^C) statement, the current position in the program stays unchanged so that the movement can be resumed by executing the @MOVI command again. However, if the command is reset, the current position in the program is initialized to the actual robot position.

COMMUNICATION WITH

PC

11-11

Page 187
Image 187
Yamaha SRCP manual @MOVA point number,speed, Point number, 10@MOVI point number,speed