Denso RC5 Spécifications télécharger pdf (Page 290)

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101

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MOVE (Statement) [Conforms to SLIM]

Function

Moves the robot flange to the specified coordinates.

If specified with an EX option (relative motion of extended-joints) or EXA option

(absolute motion of extended-joints), the MOVE can move both the robot flange

and the extended-joints synchronously. (i.e. Synchronized start and stop

from/at the specified positions is possible.)

Format

MOVE <Interpolation method>,[@<Path start displacement>

]<Pose>[,[@<Path start displacement> ]<Pose>…][,<Motion option>][,NEXT]

Explanation

This statement moves the robot from the current position to the designated

coordinate <Pose>.

For <Pose>, the position type (P type), joint type (J type) or homogeneous

transformation type (T type) can be used.

For the position type, a variable, a pose array by numbered variables, a

constant or the current position (*, CURPOS) can be used.

For the joint type, a variable, a pose array by numbered variables, or the

current angle (CURJNT) can be used.

For the homogeneous transformation type, a variable or a pose array by

numbered variables can be used.

Expression of the pose array: P[3 TO 6] From P[3] to P[6].

P, L, or C can be selected for the For <Interpolation method>.

Interpolation method Meaning

P (or PTP) The robot moves from the current position to the

designated coordinates using PTP control.

L The robot moves from the current position to the

designated coordinates using CP control.

C The robot moves to a purpose pose performing arc

interpolation via a relay point pose from the current

position.

The robot performs an interpolation motion from the

figure of the current position to that of the purpose

pose (the figure of the relay point pose is ignored).

In arc interpolation, a relay point pose and a

purpose pose must be designated.

(A pose array cannot be used for C.)

Even if pass start displacement is designated to a

relay point pose, the motion does not change.

Use MOVE C, P1, @P P2 to designate the pass

taken when the arc interpolation motion is finished.

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Denso RC5 Spécifications Page 290

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