Denso RC5 Spécifications télécharger pdf (Page 92)

100

101

3-2

MOVEMENT1 motion

MOVEMENT2 motion

Fig. 3-3 Motion Examples of Two Programs

If you delete the first motion instruction “MOVE P, P1” from “MOVEMENT1”

and “MOVEMENT2”, their motions change, as shown in Fig. 3-4.

With “MOVEMENT1,” the robot moves to point P3 with an absolute motion,

however, ”MOVEMENT2” moves by V3 from the current position with a relative

motion.

MOVEMENT1 motion MOVEMENT2 motion

Fig. 3-4 Motion Examples of Two Programs (After deletion)

Note: A relative motion executes a movement to a designated relative

distance from the current position. Therefore, if you execute a

relative motion, right after you skip the motion instruction with

the INTERRUPT ON/OFF instruction (refer to “12.3 INTERRUPT

ON/OFF”), the position of motion finish may change depending

on the timing of the ON interruption signal. To fix the motion

finish position, use an absolute motion.

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Denso RC5 Spécifications Page 92

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