Drvi - Yamaha DRCX User Manual

8-4-33 DRVI

Function:
Format:
Example:
Explanation:
Others:
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Moves a specified axis a distance equal to specified point data from the
current position.
DRVI <axis>, <point number>, <maximum speed>
DRVI 2, 10, 80
Moves the Y-axis a distance equal to point data P10 from the current
position at speed 80.
This command moves the specified axis to a position on relative
coordinates with the current origin viewed as 0. Point data for the specified
axis is used as the distance to move.
The motion starts when the specified axis enters the positioning completed
pulse range, and stops when the axis reaches the OUT valid position.
(1) Axis
Specify the axis to be moved. "1" for the X-axis and "2" for the Y-
axis.
(2) Point number
The point number is a number assigned to each point from 0 to 999
(1000 points), and used to create point data in point mode. When a
character "P" is entered here for special use, a point variable defined
by the "P" statement is set as the point number. (Refer to "8-4-12
P".)
(3) Maximum speed
The maximum speed can be set to any value from 1 to 100 (100
steps). When the execution speed in OPRT mode is 100, then 100
will be equal to 3000rpm (when PRM64 and PRM104=3000).
• The point data of the axis which is not specified in the DRVI state-
ment must be entered as dummy data. Otherwise an error will occur.
8-4 Robot Language Description
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