Denso RC5 Spécifications télécharger pdf (Page 292)

100

101

12-16

(The left expressions have higher priority in processing.)

Therefore,

(1) If these expressions are present between IOBLOCK ON and OFF, the next

non-motion instruction is not executed until the motion of the final pose (P5

or P9) motion starts. Refer to Part 2 “6.1.3 IOBLOCK ON/OFF.”

(2) If the NEXT option is added, the next non-motion instruction is not executed

until the final pose (P5 or P9) motion starts.

The syntax of an EX or EXA option is shown below.

<EX/EXAoption> syntax

EX((<JntNumber>,<RelativeDistance>)[,(<JntNumber>,

<RelativeDistance>)…])

EXA((<JntNumber>,<AxisCoordinates>)[,(<JntNumber>,

<AxisCoordinates>)…])

To <JntNumber>, you can specify only an extended-joint, never specify any

robot joint.

For details about other options, refer to the PROGRAMMER'S MANUAL,

Section 12.1 "MOVE."

Related Terms

SPEED, DRIVE, DRIVEA

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

option, DRIVE and DRIVEA only.)

Example

Ex1 DIM li1 As Integer

6-axis MOVE P, (740, 0, 480, 180, 0, 180, 5),NEXT

'Moves (PTP control) to the coordinates of robot figure 5 with (740,

'0, 480, 180, 0, 180). After the motion starts, the next instruction

'is executed.

4-axis MOVE P, (100, 200, 300, 45, 1),NEXT

'Moves (PTP control) to the coordinates of robot figure 1 with (100, 200,

300,

'45, 1). After the motion starts, the next instruction is executed.

MOVE L, lp1, SPEED = 100

'Moves (CP control, internal speed = 100) to the coordinates of lp1.

MOVE P, @30 lp2, lp3, S = lil

'Sequentially moves (PTP control, internal speed = li1) to the

'coordinates of lp2(@30) and lp3 .

MOVE L, @20 lp4, @50 lp5, @100 lp6

'Sequentially moves (CP control) to the coordinates of lp4(@20),

'lp5(@50), and lp6(@100).

MOVE L, @P P[6 TO 15], lp7

'Sequentially moves from P[6] to P[15] in pass motion and moves

'(CP motion) to the coordinates of lp7.

MOVE C, lp1, @p lp2

'Executes an arc interpolation motion via lp1 to lp2.

'Executes the pass motion at lp2 and proceeds to the next control.

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Denso RC5 Spécifications Page 292

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