11-13
11
11-5 Communication Command Description
COMMUNICATION WITH PC
(14)
@MOVM <pallet work position>,<speed>
Moves the robot to a specified pallet work position at a specified speed.
Pallet work position : The pallet work position is a number used to identify each point
on a matrix, and can be from 1 to 65025 (=255 × 255). The
counter array variable C or counter variable D 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 : @MOVM 5,100 c/r l/f .................. When a 4 × 3 matrix is
defined, the robot moves to the
point at "row 2, column 2" at
100% speed.
Response example 1 : OK c/r l/f
Response example 2 : NG c/r l/f ...................................... Data error. The specified pallet
work position is outside the
matrix.
23: data error c/r l/f
c
CAUTION
Because calculation is performed on the assumption that the robot operates on a Cartesian coordinate system,
the desired motion cannot be obtained if a SCARA robot is used.
(15)
@DRVD <axis>, <position (mm)>, <speed>
Moves a specified axis to a specified coordinate position.
Axis : Specify the axis to be moved. "1" for the X-axis and "2" for the
Y-axis.
Position : The position to be moved to is directly specified. If the robot uses
a rotary axis, the movement position units are in degrees.
Speed : The speed can be set to any level between 1 and 100. When
PRM17 (program execution speed) is set to 100, then 100 will be
equal to 3000 rpm (when PRM64 and PRM104=3000).
Transmission example : @DRVD 1, 150.55, 100 c/r l/f ..... Moves the X-axis to the
position at X=150.55 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 point
data or soft limit parameter.
30: soft limit over c/r l/f
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