Okura Yusoki A Series Manual page 106

6.5.1. Step commands list
Step
Calculation formula Position coordinate
command
HWT(RZ)=STA(RZ)+D1
HWT
HWT(Rθ,RX,Rα)=STA(Rθ,RX,Rα)
STA Stored data
HLD Stored data
SUP(RZ)=(1)HLD(RZ)+D1
SUP Whichever of (1) or (2) is bigger (during
inclined movement always (1))
SUP(Rθ,RX,Rα)=HLD(Rθ,RX,Rα)
APR(PX,PY,PZ)=LOD(PX,PY,PZ)+D2(X,Y,Z)
APR
APR(Pß)=LOD(Pß)
ADN(PZ)=LOD(PZ)+D3
ADN
ADN(PX,PY,Pß)=LOD(PX,PY,Pß)
LOD Stored data
CLW(PZ)=LOD(PZ)+D4
CLW(PX,PY,Pß)=LOD(PX,PY,Pß)
The hand passes on the product and D4 is
CLW
changed to the value that can come off when
making it with OXPA-QmV by the hand without
the finger.
Only when changed D4 is smaller than D4 of a
standard program, it applies.
HRD(RZ)=(1)STA(RZ)+D1
HRT
Whichever of (1) or (2) is larger (during
inclined movement always (1))
HRT(Rθ,RX,Rα)=STA(Rθ,RX,Rα)
NON Stored data
-During inclined movement
APU(Rθ,RX,Rα)=(1-t)x
SUP(Rθ,RX,Rα) + t x APR(Rθ,RX,Rα)
t: Inclined center
APU(RZ) =(1)SUP(RZ)
APU
-During ordinary movement
APU(RZ)=SUP(RZ)
APU(PX,PY,Pß)=APR(PX,PY,Pß)
-During inclined movement
PUP(Rθ,RX,Rα)=(1-t)x
HRT(Rθ,RX,Rα) + t x CLW(Rθ,RX,Rα)
t: Inclined center
PUP(RZ) =(1)HRT(RZ)
PUP
-During ordinary movement
PUP(RZ)=HRT(RZ)
PUP(PX,PY,Pß)=LOD(PX,PY,Pß)
=(2)LOD(RZ)+D2Z
=(2)LOD(RZ)+D4
=(2)APR(RZ)
(1) or (2) whichever is larger
=(2)CLW(RZ)
(1) or (2) whichever is larger
-Position D1 above STA step
-Position above HLD step
-Height is determined by HLD
and LOD
-Position at distance D2 from
LOD step
-Position D3 above LOD
-Position D4 above LOD step
-Position above STA step
-Height is determined by STA
and LOD
6-24
Concept Z shift
X
X
X
O
O
O
O
O
O
O
O
O