Denso SMT7 - Extended-Joints; Usable Functions in Robot and Extended-Joint Motion (Examples)

Chapter 4 Configuring the Joint Parameters
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4.6.2 Extended-Joints
A single extended-joint is configured as shown below. It can execute only PTP motion.
A MOVE command is not available for extended-joints, so use DRIVEA and DRIVE
commands to drive extended-joints.
Example of configuration realized in extended-joint motion
4.6.3 Usable Functions in Robot and Extended-Joint Motion (Examples)
Usable functions in robot motion
Usable functions in
extended-joint motion
Position variables Joint, Position, and Double-precision
variables
Floating-point
variables
Motion control All commands used in the robot,
including MOVE, APPROACH,
DEPART, CURJNT, and CURPOS. *
DRIVE, DRIVEA (only
in PTP motion)
Manual motion
mode
Joint, X-Y, and Tool modes
(Cartesian coordinate type only)
Joint mode only
NOTE: The CP motion (linear or circular) of robot joints is available depending on
the configuration of J1 to J4. For details, see the illustration given in "Robot
Joints."
* These commands take effect only for joints configured as robot joints and
they are invalid for other joints.