Specifies The Motion Path; Path - Omron SCARA YRCX Series Programming Manual

77

PATH

Specifies the motion path

NOTE
• W h e n " R " a x i s o n l y
i s s p e c i f i e d i n t h e
c o o r d i n a t e a t t r i b u t e
parameter, an error will
occur.
Format
PATH [robot number](axis number,...) ● L , point definition , option, option...
Values robot number ........................
axis number ...........................
Explanation Sets the motion path for the specified axis. This command can only be executed
between the PATH SET and PATH END commands. If execution is attempted
elsewhere, an error will occur.
• Movement type: Linear interpolation, circular interpolation
• Point setting:
• Options:
PATH motion types
● Linear interpolation movement
"PATH L..." is set for linear interpolation movement.
● Circular interpolation movement
"PATH C..." is set for circular interpolation movement.
Only the X, Y and Z coordinate values of the specified points are valid for PATH motion. Any
other coordinates use the coordinate values of the PATH motion START point.
The motion path can be connected by repeated PATH commands ("PATH L", "PATH C") to
allow movement without stopping.
●
C
1 to 4 ( If not input, robot 1 is specified.)
1 to 6 ( • Multiple axes specifiable
• If not input, all axes are specified.)
Direct numeric value input, point definition
Speed setting, coordinate plane setting (for circular interpolation
only), port output setting
8 8
N
O
P
Q
R
S
T
U
V
W
X
Y
Z
PATH 8-145