Denso RC5 Specifikace stáhnout pdf (Strana 278)

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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 a 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 the

movement ends. Therefore care needs to be exercised since it requires a long

distance to stop.

Remarks:

The APPROACH statement can be rewritten using the MOVE statement.

APPROACH <Interpolation method>,[<Pass start displacement> ]<Base

position>,<Approach length> [,<Motion option>][,NEXT]

The following shows the statement if the above APPROACH statement is

rewritten using MOVE.

6-axis MOVE <Interpolation method>,[<Pass start displacement> ]<Base

position>+(0, 0, -<Approach length>)H[,<Motion option>][,NEXT]

Example : APPROACH P, P3, 100

'The same as MOVE P, P3+(0, 0, -100)H.

4-axis MOVE <Interpolation method>,[<Pass start displacement> ]<Base

position>+(0, 0, <Approach length>)[,<Motion option>][,NEXT]

Example : APPROACH P, P3, 100

'The same as MOVE P, P3+(0, 0, 100).

Related Terms

DEPART, SPEED

Example

DEFSNG lf1, lf2

DEFPOS lp1, lp2, lp3

6-axis APPROACH P, (740, 0, 480, 180, 0, 180, 5), 70

'The robot moves (PTP control) to a point 70 mm away from the position of

robot figure 5 at (740, 0, 480, 180, 0, 180) in the –Zm

direction.

APPROACH L, lp1, lf1, SPEED = 100

'The robot moves (CP control, internal speed = 100 %) to a position at

lf1

distance from the position of lp1 in the –Zm direction.

APPROACHP,lp2,@Plf2,S=50

'The robot moves to a position lf2 distance from the lp2 position in

the –Zm

direction (PTP control, internal speed = 50 %) via the pass

movement.

APPROACH L, lp3, 80

'The robot moves (CP control) to a position 80 mm away from the position of lp3

in the –Zm direction.

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Denso RC5 Specifikace Strana 278

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