Omron SCARA YRCX Series User Manual page 47

<Queue element number>
Specifies the queue element number for the position monitoring queue.
One value between 0 and (CQUECNT-1) can be specified. This can also be specified by a variable.
Specifies the queue element number for the position monitoring queue.
One value between 0 and (CQUECNT-1) can be specified. This can also be specified by a variable.
The queue element numbers are counted from #0 in the order that they were added to the position monitoring queue.
However, only the target queue elements (the queue elements including robot position data specified by the robot
number among the position monitoring queue elements) are counted.
If omitted, the first target queue elements is specified as the target.
<Follow-up height setting>
Format: CTZ=<expression>{<expression 1>}
<expression>...Pulse unit for integer value, and mm unit for real number (with decimal point)
<expression 1>...Pulse unit for integer value, and mm unit for real number (with decimal point)
NOTE
• If <expression> or <expression 1> is a real number, all expressions will be handled as real numbers.
• <expression 1> specifies the arch distance 2.
• If <expression 1> is omitted, the axis parameter of arch pulse 2 will be set.
* Refer to <Arch motion setting> for details on arch distance 2 and arch pulse 2.
• The selected information of shift or hand about Z-axis direction (Z-axis offset amount, and so on) is not reflected
to specifying the follow-up height.
When the follow-up height is set, the arch lowering motion is executed.
1. XYR axes start horizontal movement.
2. When the XYR axes finish the horizontal movement, the Z-axis starts moving to the follow-up height so that the
remaining movement distance of the Z-axis is the arch distance 2.
3. The command is finished when the Z-axis reaches the follow-up height.
NOTE
If arch distance 2 is specified for both the follow-up height and arch motion, the value specified last will be used.
<Arch motion setting>
Format: Z=<expression>{<expression 1>,<expression 2>}
<expression>...Pulse unit for integer value, and mm unit for real number (with decimal point)
<expression 1>, <expression 2>...Pulse unit for integer value, and mm unit for real number (with decimal point)
NOTE
• If <expression>, <expression 1>, or <expression 2> is a real number, all expressions will be handled as real
numbers.
• <expression 1> and <expression 2> specify the arch distance 1 and arch distance 2 respectively.
• If <expression 1> and <expression 2> are omitted, the axis parameters of arch pulse 1 and arch pulse 2 will be set.
• The selected information of shift or hand about Z-axis direction (Z-axis offset amount, and so on) is not reflected
to specifying the arch motion.
When the arch motion is specified, the arch raising motion and arch lowering motion are executed.
Arch motion
Example operation
Arch distance 1
1. Z-axis starts moving to the position specified with the <expression>.
2. When the Z-axis moves to the distance of arch distance 1 or more, the XYR axes start horizontal movement.
3. When the X, Y, and R-axis finish the horizontal movement, the Z-axis starts moving to the position where CTMOVE was
started so that the remaining lowering distance is arch distance 2.
4. The command is finished when the Z-axis reaches the position where CTMOVE was started.
Arch position
1
Current position
2
3
Arch distance 2
4
Target position
7
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