Features II JS/JSR4400N SCARA Robot
JSG GANTRY Robot
JR2000N Desktop Robot
79
■ Linear Movement in CP Drive by Point Job: lineMove,
lineMoveStopIf
The robot Axis or Arm can move linearly in the CP drive using point job data commands.
The moving speed (referred to as CP speed) and the moving amount in each Axis direction can be set.
The CP drive can be terminated in the middle of the movement by setting conditions.
Command Category Command Parameter Job
Move lineMove
(CP) Line Speed
X Distance
Y Distance
Z Distance
R Rotate Angle
Move by the entered distance in CP drive.
z The [Move] commands are deactivated at points where the (base) point type [CP Passing Point] is
set.
To set each Axis distance, enter the distance from the current point to the destination point you wish to
shift to. Enter [0] as the distance if you wish to move the Axis in that direction.
The distance can also be entered using a variable or an expression.
The point job data shown to the right is an example
of linear movement in the CP drive using the
lineMove commands.
lineMoveSpeed 20
lineMoveX 25
lineMoveY -20
lineMoveZ 5
lineMoveR 0
endLineMove
Commands for each Axis are displayed separately
as shown above; however, all of the Axes will move
together at one time.
Current Position
X
Y
+25mm
-20mm
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