Inserting a token command
A: R104GB04A.PMD
B: R104DE04A.PMD
E: 010404 / TCS
G: 140404 / T. Wenger
Section 4
Page 5
Token commands
Robot (ROB)
Commands for servomotor axis movements
X 0050.00
Move to absolute axis position
at absolute value 0050.00
X Position variable
Move to the absolute axis position
with the valve which was specified in the
”Position variable”.
X 0050.00 v=50% a=50%
Move to the absolute axis position specifying the
speed and acceleration
X position variable v=50% a=50%
Move to the absolute axis position
with the valve which was specified in the
”Position variable” giving the speed and
acceleration.
X Relative 0100.00
Move to the relative axis position
X Relative 0100.00 v=50% a=50%
Move to the relative axis position specifying the
speed and acceleration for this movement.
Y Parallel 350.00 100.00
Absolute axis position with parallel value
Position 1: End point
Position 2: Command in next line is started here
Y Parallel 350.00 100.00
v=50% a=50%
Absolute axis position with parallel value
specifying the speed and acceleration
Y Parallel position variable 100.00
Absolute axis position with parallel value
Position 1: Position variable end point
Position 2: Command in next line is started here
Y Parallel position variable 100.00
v=50% a=50%
Absolute axis position with parallel value
specifying the speed and acceleration
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