Yamaha DRCX User Manual page 252

(35)@SHFT <point number>
Shifts the position data by an amount equal to the distance defined by a specified point number.
The shifted data is valid until the SHFT statement is executed again or until the program is reset.
Point number
Transmission example
Response example
c
CAUTION
When the program is reset, the shift data will be initialized to (0.00, 0.00).
The movement commands affected by the execution of the SHFT command are MOVA, MOVF, MOVM, DRVA,
ACHA, MOVL and MOVC. MOVD, DRVD, MOVI, DRVI and ACHI are not affected.
(36)@MOVL <point number>,<speed>
Moves to the position specified by a point number in a linear interpolation motion.
Point number
Speed
Transmission example
Response example 1
Response example 2
c
CAUTION
Interpolation movement 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.
Linear interpolation movement cannot be performed on SCARA type robots which do not operate on a rectangu-
lar coordinate system.
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11-5 Communication Command Description
: This is a number used to identify each point (position data) and
can be from 0 to 999 (a total of 1,000 points). Data for the point
numbers can be edited with the @WRITE PNT statement. The
point variable P can also be used.
: @SHFT 1 c/r l/f ............................ Shifts the point data by an
: OK c/r l/f
: This is a number assigned to each point (position data) and can
be from 0 to 999 (a total of 1,000 points). Data for the point
numbers can be edited with the @WRITE PNT statement. The
point variable "P" can also be used.
: The speed can be set to any level between 1 and 100. If PRM17
(Maximum program speed) is 100, then 100 will be equal to
1000mm/s (when PRM64 and PRM104 are set to 3000 and the
ball screw lead is 20mm).
: @MOL 123,100 c/r l/f ................. Moves to point 123 in a linear
: OK c/r l/f
: NG c/r l/f ...................................... The target position exceeds the
30: soft limit over c/r l/f
amount defined by point
number 1 and the shifted data
is used with the subsequent
movement commands.
interpolation motion at 100%
speed.
soft limit. Change the point
data or soft limit parameter.
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