Yamaha ERCX Series - Limitless Movement at same Pitch

8-37
8
ROBOT LANGUAGE
8-5 Sample Programs
8-5-10 Limitless movement at same pitch
The robot moves continuously in the same direction at the same pitch (e.g. 150mm) for cycle con-
veyor applications.
M
150mm
■ Make the following settings in advance to enable the limitless movement function.
• Set the position data unit parameter to 2.
• Set the plus soft limit to 200. This is a multiple of the lead equivalent value. (The
lead equivalent value is assumed to be 20mm.)
■ Set P0=0, P1=150 in advance in PNT(point) mode.
Program Comment
[NO0]
001: MOVA 0, 100 ; Moves to P0 at speed 100
002: L 0 ; Label definition
003: MOVI 1, 100 ; Moves 150mm
004: JMP 0, 0 ; Jumps to L0