Denso RC5 Especificações descarregar pdf (Página 284)

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If <NEXT option> is added, the robot proceeds to the next no-movement

instruction without waiting for movement to finish. However, the following

instructions will not be executed until the robot movement ends (pass start).

Robot motion instructions (CHANGETOOL, CHANGEWORK, SPEED,

JSPEED, ACCEL, JACCEL, DECEL, JDECEL), optimal carrying mass setting

library (aspACLD, aspChange), arm movement library (mvSetPulseWidth, etc.)

If this command is used with the movement option, the NEXT option is no

longer valid. When <NEXT option> is added and if step stop is executed in the

waiting status for the next movement instruction, the robot will stop after

movement ends. Therefore, care must be exercised since it requires a long

distance to stop.

Remarks: The DRAW statement can be rewritten using the MOVE statement.

DRAW <Interpolation method>,[<Pass start displacement>

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

The following shows the statement if the above DRAW statement is

rewritten using the MOVE statement.

MOVE <Interpolation method>,[<Pass start displacement>

]<Current position>+<Translation movement distance>

Example: DRAW L, (50, 10, 50) 'The same as MOVE L, P0+(50, 10, 50)

Related Terms

SPEED, TOOL, CHANGEWORK

Example

DEFVEC lv1, lv2

DRAW L, (50, 10, 50) 'The robot moves (CP control) to a position

'(X = 50, Y = 10, Z = 50) away from the current position.

DRAW L, lv1, SPEED=90 'The robot moves (CP control, S = 90) to a position

'lv1 away

'from the current position.

DRAW L, lv2,S=50 'The robot moves (CP control, S = 50) to a position

'lv2 away from the current position.

Notes

The figure of the DRAW motion position is that of motion start. As a result

there is a possibility that “error 667* software motion limit over, beyond motion

space 2” may occur since the DRAW operation position will be beyond the

motion space. In this case, replace the instruction with the MOVE instruction

as described in REMARKS and change the figure using LETF (refer to “10.3

Figure”).

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