16-2
16-1-4. MOVELW
Format
MOVELW [Position name] [Manual speed] [Pattern No.] [Frequency] ([Timer])
Function Linear 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
MOVELW
Example Travel to the teaching point P4 with circular
weaving interpolation at speed 7.5 m/min. using
weaving pattern 1 whose amplitude is 0.5.
MOVECW P4 7.5m/min Ptn=1 F=0.5
If the next teaching point is MOVELW:
Pattern No. specified here is applied to the
movement toward the next teaching point.
If the preceding teaching point is MOVELW:
Frequency specified here is applied to the
movement toward this teaching point.
“Timer” is applied toward this teaching point.
16-1-5. MOVEP
Format
MOVEP [Position name] [Manual speed]
Function PTP interpolation. Position name Teaching position type variable
Lock condition Robot lock. Manual speed The robot travel speed toward this
point.
Syntax check None.
Example Travel to the
teaching point
P1 at speed 7.5
m/min
.
MOVEP P1 7.5m/min
The same command in
conventional models
MOVEP
16-1-6. WEAVEP
Format WEAVEP [Position name] [Manual speed] [Timer]
Function Weaving amplitude point. Position name Teaching position type variable
Lock condition Robot lock. Manual speed The robot travel speed toward this
point.
Syntax check None. Timer Weaving timer
Example Set the teaching point P6 as a weaving amplitude point. Timer is 0.
WEAVEP P6 7.5m/min T=0.0
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