Movei - Omron SCARA YRCX Series Programming Manual

63

MOVEI

8
A
MEMO
B
CAUTION
• In YRCX, the motion of
C
interpolation movement
c o m m a n d a n d E N D
condition are different
from conventional model.
D
A d d i t i o n o f t h e C O N T
setting to the movement
command allows to the
E
equivalent movement
a n d E N D c o n d i t i o n i n
conventional model.
F
MEMO
G
H
I
J
K
L
M
8-114 Chapter 8 Robot Language Lists
SAMPLE
MOVEI P,P0 ···················· From its current position, the axis
• PTP movement is faster than interpolation movement, but when executing continuous
movement to multiple points, a positioning stop occurs at each point.
● Linear interpolation movement
Execution START condition: Movement of all specified axes is complete (within the tolerance range).
Execution END condition: Movement of all specified axes has begun (within the tolerance range).
All movement axes arrive at the same time.
• On robots with an R-axis, the R-axis speed may become too fast and cause an error, depending
on the R-axis movement distance.
SAMPLE
MOVE L,P0,P1 ·················· From its current position, the axis of
SAMPLE:MOVEI L
Current position
of robot 1 moves (PTP movement) the
amount specified by P0.
robot 1 moves (linear interpolation
movement) the amount specified by P0, P1.
P0
Tolerance range
P1
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