Denso RC5 Specifikace stáhnout pdf (Strana 286)

100

101

12-10

If <NEXT option> is added, the robot proceeds to the next no-movement

instruction without waiting for movement to finish. However, the following

instructions will not be 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 the 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

movement ends. Care should therefore be exercised since it requires a long

distance to stop.

Related Terms

DRIVEA, MOVE with EX or EXA option

(Commands applicable to the extended-joints include MOVE with EX or EXA

option, DRIVE and DRIVEA only.)

Example

Ex1 DEFINT li1, li2, li3

DEFSNG lf1, lf2, lf3

DRIVE (li1, 30) 'Moves li1 distance of 30 degrees (deg) from the

'current position.

DRIVE (li1, lf1) 'Moves the axis with value li1 from the current

'position.

DRIVE (li1, 0.78RAD), (li2, lf2), (li3, lf3)

'Moves li1 by 0.78 (rad), li2 by a distance of lf2,

'and li3 by a distance of lf3 from the current

'position.

Ex2 (extended-joint)

PROGRAM PRO1

TAKEARM1 'Arm Group 1 involves 7th and 8th joints.

DRIVE (7,30),(8,50) 'Operate 7th and 8th joints

END

In the above example, to move the 7th and/or 8th extended-joint, the program

needs to get Arm Group 1 or Arm Group 2.

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Denso RC5 Specifikace Strana 286

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