10.4.1.6. SMOV

10.4.1.6. SMOV

 

Explanation	Ends of robot tool move to target pose. Positioner synchronous motion.
Grammar	SMOV <Positioner no.>,<Interp.>,[<Pose>], S=<Speed>, A=<Accu.>, T=<Tool> [,<Output option>] [ UNTIL <Condition>[,<Interrupt state variable>] ]
Parameter	Positioner no.	Refer to “Positioner Synchronous Function Manual.”
	Interp.	P : Axis interpolation,  L : linear interpolation, C : circular interpolation SP : Static tool axis interpolation, SL: Static tool linear interpolation, SC: Static tool arc interpolation
	Pose	Pose formula. Target pose. In case of hidden pose, it is omitted, or only shift formula is assigned.
	Speed	Arithmetic formula. Moving speed of tool ends. Unit (mm/sec, cm/min, sec, %) should be accompanied.
	Accu.	Arithmetic formula.    0~7.  0 is the most accurate.
	Tool	Arithmetic formula.     0~15
	Output option	X1, X2, X3, X4, PU, PK, PS  (Multiple assignments are possible.)
	Conditional formula	When a conditional formula is true, robot motion is ended, and is considered to reach the assigned pose.	If not 0, true. If 0, false.
	Interrupt state variable	Result value of conditional formula is kept. This indicates whether MOVE motion is ended by conditional formula.	Used with UNTIL command.
Example	SMOVE S1,C,P[0]+R[1],S=800mm/s,A=0,T=1 SMOVE S1,P,R1,S=80%,A=1,T=3 UNTIL DI1(Hidden pose) SMOVE S1,L,S=0.5sec,A=0,T=0,X1 UNTIL DI2=&H7F,V1% (Hidden pose)

 

 

 

l  Refer to “Positioner Synchronous User Guide” for details about SMOV.

 

l  If [REC] key is pressed in the positioner synchronous mode, SMOV command, not MOVE command, is inputted.

 

l  If shift formula is recorded in <pose>, it becomes hidden pose form.

 

l  Output options are X1, X2, PU, PK and PS in the palletizing mode. ‘X1 and X2’ and ‘PU, PK and PS’ cannot be assigned at the same time. Refer to 『Hi5 Controller Palletize Function Manual』for details.