EasyManuals Logo

Yamaha SRCD User Manual

Yamaha SRCD
312 pages
To Next Page IconTo Next Page
To Next Page IconTo Next Page
To Previous Page IconTo Previous Page
To Previous Page IconTo Previous Page
Page #147 background imageLoading...
Page #147 background image
8-18
ROBOT LANGUAGE
8-4 Robot Language Description
8
8-4-19 MOVM
Function: Moves to a point on the specified matrix.
Format: MOVM <pallet work position>, <maximum speed>
Example: MOVM 23, 100
Moves to the point at row 3, column 7 at speed 100 when a matrix of 5 ×
8 is defined by the MAT statement.
Explanation: This command moves the robot to each point on a matrix specified by
the MSEL statement.
This command allows the robot to start moving when all axes are within
the "positioning-completed pulse" range. This command ends when all
axes enter the OUT valid position.
(1) 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). For example, on a
"row M, column N" matrix, the pallet work position at "row A, col-
umn B" is found by (A–1) × N+B. When a character "C" or "D" is
entered here for special use, a counter variable is set in each pallet
work position.
(2) Maximum speed
The maximum speed can be set to any level between 1 and 100. If
the execution speed in OPRT mode is 100, then 100 will be equal to
3000 rpm (when PRM64 and PRM104=3000).
Others: The MOVM statement performs calculation on the assumption that
the robot operates on the Cartesian coordinate system. Because SCARA
robots operate on a joint coordinate system, the desired motion cannot
be obtained.
Example of pallet work position in 5 × 8 matrix
A
B
C
D
40
32
24
16
33
25
17
9
123456 78
1
8
33
40
Position No.Work Position
A: Reference point
B: End of row 1
C: End of column 1
D: Last point
Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com

Table of Contents

Questions and Answers:

Question and Answer IconNeed help?

Do you have a question about the Yamaha SRCD and is the answer not in the manual?

Yamaha SRCD Specifications

General IconGeneral
BrandYamaha
ModelSRCD
CategoryController
LanguageEnglish

Related product manuals