8Perform Sequencer Direct
How to Operate Sequencer Direct 2-76
[Position data 1 - 3] (sequencer output 640 - 699)
Used during setting up the position data in the sequencer when performing the sequencer direct.
The unit is 10
-4
mm or 10
-4
deg.
Only lower one word is used for the structure flag of position variable, and upper one word is a reserved
area.
[Command/ command condition description]
(1) Joint interpolation: Mov, MovA
Evenly interpolate the robot's each axis differ-
ence between joint angles of start and end
positions. Therefore, end's track draws a
smooth arc.
MovA moves the robot to the position with coor-
dinate values of the destination position added
by the coordinate values of the approach coor-
dinate position.
For example, when Z value of approach coordi-
nate position is the distance A shown in the fig-
ure right below, joint interpolates to position A
over the aimed position.
(2) Linear interpolation movement: Mvs, MvsA
Linear interpolation moves the robot so that the
track of control points from robot's start to the
end becomes a straight line.
The hand's posture changes evenly from the
start to the end.
MvsA moves the robot to the position with coor-
dinate values of the destination position added
by the coordinate values of the approach coor-
dinate position.
For example, when Z value of approach coordi-
nate position is the distance A shown in the fig-
ure right above, linear interpolates to position A
over the aimed position.
(3) Override: Ovrd
Specify the speed of robot operation with the value between 1 and 100%.
(4) Acceleration/ deceleration rate: Accel
Specify the acceleration and deceleration in rate (%) during robot operation.
Specify the acceleration/deceleration rate with the value between 1 and 100% with reference to the
acceleration and deceleration time set up for robot in advance. The initial value is 100% (maximum
acceleration and deceleration) for both acceleration and deceleration. Adjust the acceleration/decel-
eration rate according to the robot activity.
Start
Move
End
Distance A
Start
Move
End
Distance A
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