Okura Yusoki A Series Manual page 134

8.5.1. Arm position control
The time of the robot arm moving from "MOV" through "WTARM"
OXPA-QmV simulates how long it takes, from the start position to the target position,
with "Acceleration coefficient", "Deceleration coefficient", "Overlap" and "CP/PTP" of
the "Step parameters". The simulation is carried out pallet to pallet. If step 2 does
not exist or is not processed, OXPA-QmV discontinues the simulation and ends with
error message.
The following robot sequence commands equalize "MOV" in the calculation.
SMOV and SMOV2
If the following robot sequence commands exist, OXPA-QmV does not know the
target position. OXPA-QmV discontinues the simulation and ends with error message.
MVDWN, MOVDM and/or MVPOS
8.5.2. Wait state
The following robot sequence commands count waiting time. If these exist between
"MOV" and "WTARM", OXPA-QmＶ takes the waiting time or moving time whichever
happens longer.
WTTMR and WTMSP
"BMETM" is counted only when the amount or moving time whichever happens
longer.
The following robot sequence commands do not count.
AMSPS, AMSSC, BMEPS, WTAPC, WTCON and WTHND
The relay turns neither ON nor OFF "WTCON".
8-10