Yamaha SRCP manual Absolute point movement command ABS-PT, Relative point movement command INC-PT

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I/O INTERFACE

3-2 Input Signal Description

■Absolute point movement command (ABS-PT)

This command moves the robot to an absolute position specified by a point number at a specified speed along an axis coordinate whose origin is defined as 0. The point number and speed are specified by general-purpose input. (See "3-2-2 General-purpose input (DI0 to DI7)".)

n NOTE

The number of general-purpose input (DI) points used to specify the point numbers and speed differs depending on whether SERVICE mode is enabled or disabled and also on the PRM7 (I/O point movement command speed parameter) setting. (See "3-2-2 General-purpose input (DI0 to DI7)".)

c CAUTION

The DI0 to DI7 (DI0 to DI6 when SERVICE mode is enabled) status must be confirmed before ABS-PT is executed. (See "3-6-6 When executing a point movement command".)

■Relative point movement command (INC-PT)

This command moves the robot a distance specified by a point number from the current position at a specified speed. The point number and speed are specified by general-purpose input. (See "3- 2-2 General-purpose input (DI0 to DI7)".)

n NOTE

Current position does not always indicate the actual robot position. More accurately, it is the current position data stored in the controller. Each time a movement command is executed correctly, the current position data in the controller is replaced with the target position data of the movement command.

Therefore, if the robot is stopped by an interlock while executing a relative movement command, re-executing the same relative movement command moves the robot to the target position. (The robot does not move a relative distance from the stopped position by the interlock.)

Similarly, after a robot movement command is executed, the controller still retains the target position data of that movement command as the current position data even if you move the robot to another position by manual operation.

When a relative movement command is executed under this condition, the robot moves the specified distance from the target position of the movement command that was previously executed, rather than the actual robot position, so use caution.

Current position data differs from the actual robot position when:

•Emergency stop or interlock (LOCK) was activated while the robot was moving.

•A communication command ^C (movement interruption) was transmitted while the robot was moving.

•The SERVICE mode input was changed while the robot was moving.

•The robot was moved by manual operation.

•The robot was moved by hand during servo-off (including emergency stop).

n NOTE

The number of general-purpose input (DI) points used to specify the point numbers and speed differs depending on whether SERVICE mode is enabled or disabled and also on the PRM7 (I/O point movement command speed parameter) setting. (See "3-2-2 General-purpose input (DI0 to DI7)".)

c CAUTION

The DI0 to DI7 (DI0 to DI6 when SERVICE mode is enabled) status must be specified before INC-PT is executed. (See "3-6-6 When executing a point movement command".)

■Automatic operation start command (AUTO-R)

This command executes the robot program continuously, starting from the current step. All tasks are executed if the robot program is a multi-task program.

■Step operation start command (STEP-R)

This command executes the robot program one step at a time, starting from the current step. Only the selected task is executed even if the robot program is a multi-task program.

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