Denso RC5 Specifikace stáhnout pdf (Strana 298)

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ROTATEH (Statement)

Function

Executes rotary motion by taking an approach vector as an axis.

Format

ROTATEH [@<Pass start displacement> ]<Relative rotation angle around

approach vector>[,<Motion option>][,NEXT]

Explanation

This statement rotates the hand end by <Relative rotation angle around

approach vector> taking the approach vector as the axis.

The unit of measurement for <Relative rotation angle around approach vector>

is degrees (DEG). However, designate the rotation angle in a range from -

180(DEG) to 180(DEG).

The value of <Pass start displacement> is expressed using the radius of the

globe with the designated coordinate (pause) centered. If the motion

instruction value is entered, the robot proceeds to the next control. Designate

the value in millimeters. This value aims to change pass start timing, and if the

end of the arm enters the globe, the robot does not always proceed to the next

control.

If the value is ignored, it is processed as the default value @0.

If the value is @0, the robot moves in the end movement.

If @P, it moves in the pass movement.

If @E, the robot checks the arrival at the target position with the value of the

encoder and then proceeds to the next movement.

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Denso RC5 Specifikace Strana 298

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