YASKAWA FS100 - Page 205

2 INFORM Explanation
FS100 2.4 Move Instruction : MOVC
2-182
13. COORD=Arc attitude control specification
The following tag can be added or omitted.
NOP
MOVL V=138
MOVC V=138 COORD=1 Step 2
MOVC V=138 COORD=1 Step 3
MOVC V=138 COORD=1 Step 4
MOVL V=138
MOVC V=138 COORD=0 Step 6
MOVC V=138 COORD=0 Step 7
MOVC V=138 COORD=0 Step 8
MOVL V=138
END
Step 2 to 4 performs the attitude control based on the circular surface.
Step 6 to 7 performs the attitude control based on the robot installation
surface.
No Tag Explanation Note
18 COORD=Arc attitude
control specification
Specifies the attitude control of arc.
This is not usually needed, but depending on teaching,
the intended circular motion may not be performed.
In this case, specify as follows.
When the circular surface is parallel with the robot
installation surface, specify as COORD = 0.
When the circular surface is not parallel with the robot
installation surface, specify as COORD = 1.
Example
Step7
MOVC
Step6
MOVC
Step4
MOVC
Step5
MOVL
Step2
MOVC
Step8
MOVC
Step3
MOVC
Step1
MOVL
Step9
MOVL
Robot installation surface