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Joint Robot Manipulator - Software Operation Manual

Advantech LNC Technology Co., Ltd.

A: Coordinate A or J4。

B: Coordinate B or J5。

C: Coordinate C or J6。

U: Coordinate U

V: Coordinate V

F:Speed

Examples

G31 M1 Z-100 F3000 R4000 S1

Decrease by 100mm at a speed of 3000. If R4000.0=1

during the decrease, the unfinished action of this

command is ignored.

G31 Z-100 F3000 R4000 S3 T3 At the speed of 3000, the Z axis moves to the position of

the work coordinate-100mm. During the descent, if

R4000.0=1 and R4000.1=1, the unfinished action of this

instruction is ignored and is no longer executed.

Note: In the system built-in PLC program, I70~I73 will be corresponding to R23730, and

the I point to trigger stop can be set to this number to facilitate the use of this function.

17.21. Sensing torque stop (R value comparison) (G32)

Code description

R: the number of R

S: Compare conditions. 0 greater than, 1 greater than or equal to, 2 equal to, 3 less than, 4 less

than or equal to, 5 not equal to 6, 6 absolute value greater than, and 7 absolute value less than.

T: The value being compared.

L: 0 world, 1 work, 2 tool, 3 joint. (default: work)

M: 0 absolute, 1 relative. (Default: Absolute)

X: Coordinate X or J1.

Y: Coordinate Y or J2。

Z: Coordinate Z or J3。