Okura Yusoki A Series Manual page 14

MOVRT
[ Functional Classification ]
Arm Position Control
[ Outline of processing ]
Move arm (R, T axis only) to designated step positions
[ Format ]
MOVRT n
[ Example ]
Assuming there is a column between station and pallet. So, arm is shrunk first and then
rotates.
MOV 4
WTARM
D1000 = 1
D1001 = 15000
MOVX D1000
WTARM
MOVRT 5
WTARM
MOV 5
WTARM
[ Detail ]
WTARM command is necessary afterward.
[ Related Command ]
WTARM, MOVX
[ Related Parameter ]
[ SH Soft Version ]
[ Purpose ]
(n: Step No..)
Arm shrinks to AX=1500mm
Only R and T axes rotate
Move to position at step 5
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