Movc - Yamaha DRCX User Manual

8-4 Robot Language Description
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8-4-39 MOVC

Function:
Format:
Example:
Explanation:
Others:
Performs a circular interpolation motion passing through the position
specified by a point number.
MOVC <point number>,<maximum speed>,<locus type>
MOVC 10,100,0
Moves along a circular segment locus determined by the three points of
the current position, P10 and P11. The speed is 100 and the end point is
11.
MOVC 10,100,1
Moves along a circular locus determined by the three points of the cur-
rent position, P10 and P11. The speed is 100 and the end point is the
same as the start point.
This command moves the robot on absolute coordinates with the origin
set to 0, while controlling the locus of circular interpolation. For example,
when a circular segment is selected, if the point number is specified as n,
the robot moves from the current position along a circular segment locus
with the end point of point n+1, passing through point n. In the case of a
circular locus, the robot moves from the current position along a circular
locus with the same start and end points, passing through points n and
n+1.
(1) Point number
The point number is a number assigned to each point from 0 to 999
(1000 points), and used to create point data in point mode. When a
character "P" is entered here for special use, a point variable defined
by the "P" statement is set as the point number. (Refer to "8-4-12
P".)
(2) Maximum speed
The maximum speed can be set to any value from 1 to 100 (100
steps). When the execution speed in OPRT mode is 100, then 100
will be equal to a speed of 1000mm/s (when PRM64 and PRM104
are set to 3000 and the ball screw lead is 20mm)
(3) Locus type
Select the locus type. "0" for the circular segment locus and "1" for
the circular locus.
• The movable radius is 1000mm maximum and 2mm minimum.
• The robot does not stop and continues operating when the MOVL
state ment and MOVC statement are consecutively written.
• The MOVL and MOVC statements execute advanced reading (execute
the steps that follow interpolation motion). Therefore, to issue the
DO output after the end point of the interpolation motion is reached,
the DO statement should be written after the MOVA statement follow-
ing the MOVL and MOVC statements. In this case, set the specified
point for MOVA to the same point as the end point of the MOVL and
MOVC statements. (Specifying any speed is okay.)
The same operation can be performed by writing WAIT 140,1 and
WAIT 141, 1 instead of the MOVA statement.
• When the last movement command in the program is for interpolation
motion, the DO output may be turned off during movement due to the
advanced reading. If this happens, add the MOVA statement after the
last interpolation motion as explained above.
• Interpolation motion cannot resume even if it is not yet finished.
So, if interpolation movement is stopped by an interlock signal, the
program should be reset and restarted from the beginning.
• Circular interpolation motion cannot be performed on SCARA robots
which do not operate on a Cartesian coordinate system.