Pmove - Omron SCARA YRCX Series Programming Manual

84

PMOVE

8 8
Executes a pallet movement command for the robot
N
O
P
Q
R
S
T
U
V
W
X
Y
MEMO
Z
8-162 Chapter 8 Robot Language Lists
Format
PMOVE [robot number]
pallet position number),option, option...
Values
robot number .........................1 to 4 (If not input, robot 1 is specified.)
pallet definition number .........0 to 39
pallet position number ...........1 to 32767
Explanation Executes "pallet move" command of the specified axes. (The specified pallet numbers
must be registered in advance.)
It is not enabled for axes of other robots or for auxiliary axes.
• Movement type:
• Pallet definition number: Numeric expression
• Pallet position number:
• Options:
The position numbers for each pallet definition are shown below.
Position numbers for each pallet definition
NY
NX*NY*(NZ-1)+1 NX*NY*(NZ-1)+1
P[5]
NZ
1
P[1]
• Acquires the XYZ axes move to the position determined by calculated values, the R attribute
axis moves to the position specified by pallet point data P [1].
Options
Speed setting (SPEED)
Arch motion
STOPON condition setting
SAMPLE
PMOVE(1,16) ····················· Robot 1 moves from its current position
(pallet definition number,
PTP
Numeric expression
Speed setting, arch motion setting,
STOPON condition setting
NX*NY*(NZ-1)+NZ NX*NY*(NZ-1)+NZ
P[3]
NX*(NY-1)+1
NX+1
...
2
NX
PTP
Enabled only for specified PMOVE statement
Enabled only for specified PMOVE statement
Enabled only by program execution
to the position specified by pallet
position number 16 of pallet definition
number 1.
NX*NY*NZ
P[4]
NX*NY
NX*2
P[2]
NX
33816-R7-00
Remarks