Omron SCARA YRCX Series User Manual page 45

Description
This command changes the follow-up height of a robot in the conveyor follow-up state.
The operation to change the position of the specified robot's Z-axis to the follow-up height is executed.
This command can be executed in a robot that is in the conveyor follow-up state with the CTMOVE command.
Note that it cannot be executed for a robot that does not have a Z-axis.
Refer to section "7.3.13 CTMOVE" for details on CTMOVE.
CTDRIVE
Example movement
Follow-up height before change
Specifiable options are the speed setting (SPEED), CONT setting, and STOPON condition setting.
Options can be omitted.
NOTE
If this command is executed for a robot that is not in the follow-up state, an alarm will occur. To continue the
process after an alarm occurring, reset with the "ON ERROR GOTO" statement.
Explanation
<Robot number>
Specifies the number of the robot for which the follow-up height is to be changed.
The robot number can also be specified by a variable. If omitted, Robot 1 is specified.
<Follow-up height (mm)>
Specifies the position for moving the Z-axis.
A real number (unit: mm) should be used to specify.
The follow-up height can also be specified by a variable.
NOTE
The selecting shift and hand information about Z-axis direction (Z-axis offset amount, and so on) are not
reflected in the follow-up height.
The followings are options.
<Speed setting (SPEED)>
Format 1: SPEED=<expression>
Format 2: S=<expression>
<expression>...1 to 100 (units: %)
Specifies the program speed in an <expression>.
The actual speed will be as follows:
• Z-axis maximum velocity x automatic movement velocity (%) x program movement speed (%)
<CONT setting>
Format: CONT
When CONT-specified movement is executed, the CTDRIVE can be started without waiting for this command's movement
to end.
<STOPON condition setting>
Format: STOPON <conditional expression>
If the conditional expression is established during movement, the robot will start decelerating to a stop.
If the conditional expression is established when starting movement, this command will end without moving.
Note that if a STOPON condition is specified, the CONT setting will be invalidated.
CTDRIVE
Robot movement
Conveyor flow direction
Follow-up height after change
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