Yamaha DRCX - Page 244

11-11
11
11-5 Communication Command Description
COMMUNICATION WITH PC
(10) @MOVD <X-axis position (mm)> , <Y-axis position (mm)> , <speed>
Moves the robot to a specified coordinate position.
X(Y)-axis position : Directly specify the target position to move the robot to. If the
robot uses a rotary axis, the coordinate position is expressed in
deg. (degrees).
Speed : The speed can be set to any level between 1 and 100. If PRM17
(Maximum program speed) is 100, then 100 will be equal to 3000
rpm (when PRM64 and PRM104=3000).
Transmission example :
@MOVD 50.37,45.55,100 c/r l/f ..... Moves the robot to the posi-
tion at X=50.37, Y=45.55, at
100% speed.
Response example 1 : OK c/r l/f
Response example 2 : NG c/r l/f ...................................... The target position exceeds the
soft limit. Change the target
position or soft limit param-
eter.
30: soft limit over c/r l/f
(11) @MOVA <point number>,<speed>
Moves the robot to a position specified by a point number at a specified speed.
Point number : This is a number assigned to each point (position data) and can
be from 0 to 999 (a total of 1,000 points). Data for the point
numbers can be edited with the @WRITE PNT statement. The
point variable "P" can also be used.
Speed : The speed can be set to any level between 1 and 100. If PRM17
(Maximum program speed) is 100, then 100 will be equal to 3000
rpm (when PRM64 and PRM104=3000).
Transmission example : @MOVA 123,100 c/r l/f ............... Moves the robot to point 123
at 100% speed.
Response example 1 : OK c/r l/f
Response example 2 : NG c/r l/f ...................................... The target position exceeds the
soft limit. Change the point
data or soft limit parameter.
30: soft limit over c/r l/f
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