Panasonic VR2 Series - 16 Commands; Move Commands; Movec; Movecw

16-1
16. Commands
16-1. Move commands
16-1-1. MOVEC
Format
MOVEC [Position name] [Manual speed]
Function Circular interpolation. Position name Teaching position type variable
Lock condition Robot lock. Manual speed
Syntax check None.
The robot travel speed toward this
point.
Example Travel to the teaching point P3 with circular
interpolation at speed 7.5 m/min.
MOVEC P3 7.5m/min
The same command in
conventional models
MOVEC
16-1-2. MOVECW
Format
MOVECW [Position name] [Manual speed] [Pattern No.] [Frequency] ([Timer])
Function Circular weaving interpolation. Position name Teaching position type variable
Lock condition Robot lock. Manual speed The robot travel speed toward this
point.
Syntax check None. Pattern No. Weaving pattern (n).
Frequency Weaving amplitude.
Timer Weaving timer
The same command in
conventional models
MOVECW
Example Travel to the teaching point P5 with circular
weaving interpolation at speed 7.5 m/min. using
weaving pattern 1 whose amplitude is 0.5.
MOVECW P5 7.5m/min Ptn=1 F=0.5
If the next teaching point is MOVECW:
Pattern No. specified here is applied to the
movement toward the next teaching point.
If the preceding teaching point is MOVECW:
Frequency specified here is applied to the
movement toward this teaching point.
“Timer” is applied toward this teaching point.
16-1-3. MOVEL
Format
MOVEL [Position name] [Manual speed]
Function Linear interpolation. Position name Teaching position type variable
Lock condition Robot lock. Manual speed
Syntax check None.
The robot travel speed toward this
point.
Example Travel to the teaching point P2 with linear
interpolation at speed 7.5
m/min.
MOVEL P2 7.5m/min
The same command in
conventional models
MOVELW