Moving With The Move Instruction - YASKAWA DX100 Instructions Manual

DX100
2.1
2 The Servofloat Function
2.1

Moving with the Move Instruction

Moving with the Move Instruction
If an external force prevents manipulator operation, the manipulator does
not reach the taught position when the servofloat function is enabled.
Even though the manipulator does not actually reach the taught position,
the instruction that would be activated at that position are nonetheless
enabled, so the move instruction terminated.
Therefore, when the manipulator cannot reach the taught position
because of an external force, the manipulator performs the next
instruction.
The following figure shows an example where the operation time is 5
seconds from STEP 1 to STEP 2. If the manipulator hits an obstruction 3
seconds after STEP 1 and stops there, it remains stopped at the position
for the remaining 2 seconds, and then moves to STEP 3 without moving
to STEP 2 when moving with the torque control.
5 seconds
3 seconds
Obstruction
STEP 1
2 seconds until the MOVE instruction
to STEP 2. The manipulator hits an
obstruction and stops for is completed.
After completion of discharging, it
moves to STEP 3 in torque controlled status.
2-2
STEP 1 MOVL V=100.0
FLOATON FL#(1)
STEP 2 MOVL V=100.0
STEP 3 MOVL V=100.0
STEP 2
FLOATOF
STEP 3
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