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Chapter 3
Robot Motion
There are various robot motions according to
reference point settings or how to determine
whether the robot reaches the destination
position. This chapter provides an explanation of
these robot motions.
- PROGRAMMER’S MANUAL I 1
- PROGRAM DESIGN AND COMMANDS 1
- (Ver. 1.95) 1
- Important 3
- How this book is organized 5
- PART 2 COMMAND REFERENCE 6
- 1. Introduction 8
- 2. Installation Precautions 8
- 2.8 Setting-up the safety 10
- 2.9 Positioning of rope or 10
- SAFETY PRECAUTIONS 11
- 3. Precautions 12
- 4. Daily and periodical 15
- 5. Management of 15
- CONTENTS 17
- Disables the gravity offset 39
- ST_SetCompFControl 40
- ST_ResetCompVMode 40
- VISREFCAL 48
- PROGRAM DESIGN 49
- Chapter 1 51
- Sample Program 51
- 1.1 Model Case Application 53
- 1.2 Program Flow 54
- 1.3 Program List 55
- Chapter 1 Sample Program 57
- Program coding list “PRO2” 58
- Chapter 2 61
- Program Flow 61
- Chapter 2 Program Flow 63
- 2.1.1 Calling a Subroutine 64
- 2.1.2 Calling a Program 65
- 2.1.3 Program Recursive Call 66
- 2.2 Running a Program 67
- 2.3 Multitasking 68
- 2.3.2.2 I/O 69
- 2.4 Serial Communication 70
- 2.4.4 Sample Application 71
- 2.5 Library 76
- 2.5.2 Palletizing Library 77
- [ 1 ] Palletizing Parameter 78
- [ 3 ] Palletizing Counter 82
- Count Rule 82
- 2.5.2.2 Palletizing Program 84
- Chapter 3 89
- Robot Motion 89
- 3.1.1 Absolute Motion 91
- 3.1.2 Relative Motion 91
- MOVEMENT1 motion 92
- MOVEMENT2 motion 92
- 3.2.1 Pass Motion 93
- 3.2.2 End Motion 93
- Pass motion 94
- End motion 94
- Encoder value check motion 94
- Servo deviation 94
- Same pass motion path unde 98
- Chapter 3 Robot Motion 101
- 3.3 Interpolation Control 102
- 3.3.2 CP Control 103
- Motion Instruction 104
- Chapter 4 113
- Speed, Acceleration 113
- Designation 113
- 4.2 Speed Designation 115
- Internal Deceleration 115
- Acceleration 116
- 4.6.1 Control Set 0 119
- Positioning time 121
- Motion range (deg.) 121
- 4.6.2 Control Set 1 122
- 4.6.3 Control Set 2 123
- 4.6.4 Control Set 3 124
- 4.6.6 Notes for Setting 125
- User Preferences 126
- [F6 Aux.] 131
- [F7 Config.] 131
- 4.8 Safety Features 137
- Chapter 5 139
- Vision Control 139
- 5.1 Vision Control 141
- [ 1 ] Area 142
- [ 2 ] Center of Gravity 142
- Window Object 143
- Major axis 143
- Minor axis 143
- 5.1.1.5 Binarization 144
- Number of pixels 145
- 5.1.1.7 Edge 147
- 5.1.1.8 Labeling 148
- Search model Window 149
- Search model 149
- Image data 149
- COMMAND REFERENCE 151
- Chapter 6 153
- Guide to Command 153
- Reference 153
- Explanations 155
- 6.2 Command List 156
- Chapter 7 157
- PAC Language 157
- Configuration 157
- Elements 157
- 7.1 New Robot Language PAC 159
- 7.3 Language Element 161
- 7.4 Name 161
- 7.5 Identifier 162
- [ 1 ] Global Variable 163
- [ 2 ] Local Variable 165
- 7.5.2 Function 166
- 7.5.3 Label 166
- 7.5.4 Program 167
- 7.6 Data Type 168
- 7.7 Data Type Conversion 169
- 7.8 Constant 170
- 7.8.3 Vector Type Constant 172
- 7.8.4 Pose Constant 172
- [ 2 ] Joint Type Constant 173
- 7.9 Expression and Operator 174
- 7.9.3 Relational Operator 175
- 7.9.4 Logical Operator 176
- 7.9.6 Vector Operation 177
- 7.9.7 Position Operation 177
- 7.9.8 Joint Operation 178
- Chapter 8 181
- 8.1 Statement and Line 183
- 8.3 Label 185
- 8.4 Character Set 186
- 8.5 Reserved Word 187
- 8.6 Declaration Statement 188
- 'postposition is used 189
- [ 3 ] Array Declaration 190
- 8.7 Assignment Statement 192
- Command Example 194
- 8.8 Flow Control Statement 195
- 8.8.4 Repeat 196
- *SUBROUTINE: 197
- [ 2 ] Program 198
- 8.9 Robot Control Statement 199
- 8.9.4 Time Control Statement 200
- 8.12 Time and Date Control 203
- 8.13 Error Control 204
- 8.14 System Information 205
- 8.15 Preprocessor 206
- 8.16.1 Calling with a Value 207
- 8.17 Vision Control 209
- 8.17.3 Draw 210
- 8.17.4 Image Processing 210
- 8.17.5 Code Recognition 211
- 8.17.6 Labeling 211
- 8.17.7 Search Function 211
- 8.17.8 Result Obtaining 212
- 8.17.9 Vision Calibration 212
- Chapter 9 213
- Declaration 213
- Statements 213
- 9.1 Program Name 215
- AREA (Statement ) 216
- Related Terms 217
- 9.3 User Function 218
- 9.4 Home Coordinates 219
- 9.5 Tool Coordinates 220
- 9.6 Work Coordinates 221
- 9.7 Local Variable 222
- DEFSNG (Statement) 223
- DEFDBL (Statement) 224
- DEFSTR (Statement) 225
- DEFVEC (Statement) 226
- DEFPOS (Statement) 227
- DEFJNT (Statement) 228
- DEFTRN (Statement) 229
- 9.8 Array 231
- Chapter 10 233
- Assignment 233
- 10.1 Variables 235
- 10.2 Vector 236
- LETO (Statement) 237
- LETP (Statement) 238
- 10.3 Figure 239
- 10.4 Link Angle 240
- 10.5 Posture 241
- 10.6 Rotation Component 242
- LETRY (Statement) 243
- LETRZ (Statement) 244
- LETT (Statement) 245
- 10.7 Axis Component 246
- DEFPOS lp1, lp2 247
- DEFVEC lv1, lv2 247
- Function 248
- Explanation 248
- Chapter 11 249
- Flow Control 249
- 11.1 Program Stop 251
- STOPEND (Statement) 253
- 11.2 Call 254
- 11.3 Repeat 259
- EXIT DO (Statement) 261
- EXIT FOR (Statement) 264
- REPEAT-UNTIL (Statement) 265
- WHILE-WEND (Statement) 266
- 11.4 Conditional Branch 267
- SELECT CASE (Statement) 269
- 11.5 Unconditional Branch 271
- 11.6 Comment 273
- Chapter 12 275
- Robot Control 275
- 12.1 Motion Control 277
- DEPART (Statement) 280
- DRAW (Statement) 283
- DRIVEA (Statement) 287
- for the specified 288
- ROTATEH (Statement) 298
- CURJNT (System Variable) 300
- 'lp1 302
- 'lp2 302
- CUREXJ (Statement) 303
- DESTJNT (System Variable) 304
- DESTPOS (System Variable) 305
- DESTTRN (System Variable) 306
- DESTEXJ (Statement) 307
- POSCLR (Statement) 310
- 12.2 Figure Control 311
- FIGAPRL (Function) 313
- FIGAPRP (Function) 315
- 12.3 Stop Control 316
- INTERRUPT ON/OFF (Statement) 318
- 12.4 Speed Control 320
- JSPEED (Statement) 322
- JACCEL 25 (JSPEED*JSPEED÷100) 323
- JDECEL 25 (JSPEED*JSPEED÷100) 323
- CURACC (System Variable) 327
- CURJACC (System Variable) 328
- CURDEC (System Variable) 329
- CURJDEC (System Variable) 330
- CURJSPD (System Variable) 331
- CURSPD (System Variable) 332
- CUREXTACC 333
- ACCEL, DECEL, CUREXTDEC 333
- CUREXTSPD 335
- 12.5 Time Control 336
- CHANGETOOL (Statement) 338
- CHANGEWORK (Statement) 339
- WORK, CHANGEWORK, WORKPOS 341
- 12.7 Interference Check 342
- RESETAREA (Statement) 343
- 12.8 Supervisor Task 344
- 12.9 Internal Servo Data 345
- 12.10 Particular Control 347
- Internal payload condition 348
- External payload condition 348
- Chapter 13 381
- Input/Output 381
- Control Statements 381
- 13.1 I/O Port 383
- Sets an I/O port to OFF 389
- RESET <I/O variable> 389
- SET, DEFIO 389
- (Server/Client) Port 390
- LINEINPUT (Statement) 391
- WRITE (Statement) 393
- FLUSH (Statement) 394
- (RS232C and Ethernet ports) 395
- (Version 1.5 or later) 396
- 13.4 Pendant 402
- PRINTDBG (Statement) 403
- BUZZER (Statement) 404
- PRINTLBL (Statement) 405
- TP operation screen sample 408
- <Parameter 410
- Type> 410
- Page caption example 415
- Chapter 14 423
- Multitasking 423
- 14.1 Task Control 425
- KILL (Statement) 426
- SUSPEND (Statement) 427
- DEFEND (Statement) 428
- STATUS (Function) 429
- 14.2 Semaphore 430
- CREATESEM (Function) 431
- DELETESEM (Statement) 434
- FLUSHSEM (Statement) 435
- GIVESEM (Statement) 436
- TAKESEM (Statement) 437
- 14.3 Arm Semaphore 438
- (2) extended-joints 439
- GIVEARM (Statement) 443
- TAKEVIS (Statement) 444
- GIVEVIS (Statement) 445
- Chapter 15 447
- Functions 447
- 15.1 Arithmetic Function 449
- Chapter 15 Functions 451
- DEFSNG lf1, lf2, lf3, lf4 453
- DEFSNG lf1, lf2 454
- DEFINT li1, li2 454
- RND (Function) 457
- SGN (Function) 458
- 15.2 Trigonometric Function 460
- (Function) [Conforms to SLIM] 461
- 'lf5 to lf3 465
- 15.3 Angle Conversion 467
- RAD (Function) 468
- 15.4 Speed Conversion 470
- 15.5 Time Function 471
- 15.6 Vector 472
- OVEC (Function) 473
- PVEC (Function) 474
- MAGNITUDE (Function) 475
- J2P (Function) 476
- J2T (Function) 477
- P2J (Function) 478
- P2T (Function) 479
- T2J (Function) 480
- T2P (Function) 481
- TINV (Function) 482
- 15.8 Distance Extraction 483
- 15.9 Figure Component 484
- 15.10 Angle Component 485
- 15.11 Axis Component 486
- 15.12 Rotation Component 489
- POSRY (Function) 490
- POSRZ (Function) 491
- POST (Function) 492
- 15.13 Figure Component 493
- 15.14 Position Function 494
- AREASIZE (Function) 495
- TOOLPOS (Function) 496
- WORKPOS (Function) 497
- ASC (Function) 498
- DIM li1 As Integer 499
- DEFSTR ls1, ls2 499
- SPRINTF$ (Function) 501
- Chapter 16 513
- Constants 513
- 16.1 Built-in Constants 515
- ON (Built-in constant) 516
- PI (Built-in constant) 517
- FALSE (Built-in constant) 518
- TRUE (Built-in constant) 519
- Chapter 17 521
- Time/Date Control 521
- 17.1 Time/Date 523
- DEFINT li1, li2, li3 525
- Chapter 18 527
- Error Controls 527
- 18.1 Error Information 529
- ERR (System Variable) 530
- ERRMSG$ (Function) 531
- 18.2 Error Interruption 532
- RESUME (Statement) 533
- Chapter 19 535
- System Information 535
- 19.1 System 537
- LETENV (Statement) 538
- VER$ (Function) 539
- 19.2 Log 540
- CLEARLOG (Statement) 541
- STOPLOG (Statement) 542
- Chapter 20 543
- Preprocessor 543
- (Preprocessor Statement) 545
- (Preprocessor Statement) 546
- 20.2 File Fetch 548
- 20.3 Optimization 549
- Chapter 21 551
- (Option) 551
- 21.3 Image Input and Output 555
- CAMMODE (Statement) 556
- CAMLEVEL (Statement) 558
- VISCAMOUT (Statement) 559
- VISPLNOUT (Statement) 560
- VISOVERLAY (Statement) 561
- VISDEFTABLE (Statement) 563
- VISREFTABLE (Function) 565
- 21.4 Window Setting 566
- (End X coordinate 567
- WINDCLR (Statement) 571
- WINDCOPY (Statement) 572
- WINDREF (Function) 574
- WINDDISP (Statement) 575
- 21.5 Draw 576
- VISBRIGHT (Statement) 578
- VISCLS (Statement) 579
- ( X coordinate, Y coordinate) 581
- VISLINE (Statement) 582
- VISPTP (Statement) 583
- VISRECT (Statement) 584
- (X coordinate, Y coordinate) 585
- VISELLIPSE (Statement) 586
- VISSECT (Statement) 587
- VISCROSS (Statement) 588
- VISLOC (Statement) 589
- VISDEFCHAR (Statement) 591
- VISPRINT (Statement) 592
- 21.6 Vision Processing 593
- (X coordinate 594
- Y coordinate) 594
- VISHIST (Statement) 595
- VISREFHIST (Function) 596
- VISLEVEL (Function) 597
- VISBINA (Statement) 599
- VISBINAR (Statement) 601
- VISFILTER (Statement) 602
- VISMASK (Statement) 604
- VISCOPY (Statement) 606
- VISMEASURE (Statement) 607
- VISPROJ (Statement) 610
- VISEDGE (Statement) 612
- 21.7 Code Recognition 616
- 21.8 Labeling 619
- Center of gravity coordinate 619
- Filet dia. width 619
- Filet dia. height 619
- Filet dia. reference point 619
- Main axis angle 622
- Peripheral length 622
- Label number 2 624
- Label number 0 624
- Label number 1 624
- Label number 3 624
- Label number2 626
- Label number3 626
- SHDEFMODEL (Statement) 628
- SHREFMODEL (Statement) 630
- SHCOPYMODEL (Statement) 631
- SHCLRMODEL (Statement) 632
- SHDISPMODEL (Statement) 633
- SHMODEL (Statement) 634
- Pad height 638
- Clearance 638
- Corner position 638
- SHCORNER (Statement) 639
- Pad width 641
- SHCIRCLE (Statement) 642
- 21.10 Obtaining Results 645
- VISGETSTR (Function) 646
- VISPOSX (Function) 647
- VISPOSY (Function) 648
- VISSTATUS (Function) 649
- VISREFCAL (Function) 650
- Chapter 22 651
- Appendices 651
- 22.1 Character Code Table 653
- [ 1 ] Available 32 Figures 654
- Chapter 22 Appendices 655
- (1) Shoulder figure 655
- (2) Elbow figure 655
- (3) Wrist figure 656
- (4) 6th-axis figure 656
- (5) 4th-axis figure 657
- Figure 7. Location of Pw 660
- ≤180° around 664
- 22.4 Configuration List 666
- (Tool end 672
- speed in CP motion) 672
- 199 Arc interpolation 672
- 22.5 Reserved Word List 673
- Correspondence Table (VS) 675
- 22.8 Setting Parameter Table 681
- Index 685
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