Joint Robot Manipulator - Software Operation Manual
Advantech LNC Technology Co., Ltd.
5
17.23.6.
O5 uses dynamic position .............................................................................. 89
17.23.7.
O6 uses joint records ..................................................................................... 89
17.23.8.
O7 directly set joint coordinates .................................................................... 90
17.23.9.
O8 directly set re-offset ................................................................................. 90
17.23.10.
O9 re-offset dynamic setting ................................................................. 90
17.24.
Rotating the coordinate system (G55) ................................................................... 90
17.25.
Coordinated coordinate system (G56) ................................................................... 90
17.26.
Bulk separating axis coordinate system (G57) ...................................................... 90
17.27.
Start dynamic compensation (G61) ....................................................................... 91
17.28.
Turn off dynamic compensation (G60) ................................................................. 91
17.29.
Interpolation table conversion (G69) ..................................................................... 91
17.30.
Set the flexibility level (G89) ................................................................................ 91
17.31.
Set the synthetic acceleration/deceleration time (G90) ......................................... 92
17.32.
Set the shaft speed smoothing time (G91) ............................................................. 92
17.33.
Set the shaft speed tolerance (G92) ....................................................................... 92
17.34.
Serve lag eliminates and updates coordinates (G95) ............................................. 92
17.35.
Update coordinates (G96) ...................................................................................... 92
18.
Macro syntax ......................................................................................................................... 93
18.1.
Variables ................................................................................................................ 93
18.1.1.
Regional variables: ........................................................................................ 93
18.1.2.
Global Variables: ........................................................................................... 93
18.2.
Core resource IOCSAR access .............................................................................. 93
18.3.
Mathematical fnctions ........................................................................................... 94
18.4.
Program flow control ............................................................................................. 95
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