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Chapter 12 Robot Control Statements

12-7

DRAW (Statement)

Function

Executes the relative movement designated in the work coordinate system.

Format

DRAW <Interpolation method>,[<Pass start displacement amount>]<Parallel

movement distance>[,<Motion option>][,NEXT]

Explanation

The robot moves from the current position by a distance of <Translation

movement distance>.

Either P (or PTP) or L can be selected for <Interpolation method>.

Interpolation method Meaning

P (or PTP) Moves in PTP control.

L Moves in CP control.

The value of <Pass start displacement> is expressed using the radius of the

globe with the target position centered. If the motion instruction value is

entered, the robot proceeds to the next control. Designate the value in

millimeters. This value aims to change the pass start timing, and if the end of

the arm enters the globe, the robot does not always proceed to the next

control.

If the value is ignored, it is processed as the default value @0.

If the value is @0, the robot moves in the end movement.

If @P, it moves in the pass movement.

If @E, the robot checks the arrival at the target position with the value of the

encoder and then proceeds to the next movement.

The SPEED, ACCEL, and DECEL options are available for <Motion option>.

Motion option Meaning

SPEED (or S) Designates the movement speed. The meaning is

the same as the SPEED statement.

ACCEL Designates acceleration. The meaning is the same

as the ACCEL statement. However, deceleration

cannot be designated. Use the DECEL statement

to designate deceleration.

DECEL Designates deceleration. The meaning is the same

as the DECEL statement.

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