Skip to main content

1.2.1. Program structure

1.2.1. Program structure​

 

In order to use the SoftXYZ function, set the LIMIT, then wait for a certain time before activating the function. After the work related to being pushed is completed, deactivate the SoftXYZ function.

 

Example program)

 

S1   MOVE P,S=100mm/s,A=1,T=0 

DELAY 2

LIMIT XnR,X=50, RY=5

LIMIT VEL,X=5,RY=0.5

SoftXYZ ON,CRD=1 ‘Start Function

S2   MOVE …

SoftXYZ OFF ‘End Function

END

 

Classification

Explanation

Example program

Condition setting

- Designate the direction (XnR) of controlling the robot and the LIMIT of VEL based on the set coordinate system of SoftXYZ.

 

- The direction set for 0 means that the SoftXYZ function is off

.

- LIMIT XnR,X=30, RY=5 :

  Limit the movement in the X direction to 30 mm.

Limit the movement to RY=5deg.

 

- LIMIT VEL,X=5,RY=0.5

Limit the velocity of being pushed in the X direction to 5 mm/s.

Limit the angle velocity of being pushed in the RY direction to 0.5 deg/s.

LIMIT XnR,X=30, RY=5

LIMIT VEL,X=5, RY=0.5

Wait time setting

In order to increase the sensitivity of the robot to an external force, the DELAY command must be used, before turning SoftXYZ on, to keep the robot waiting for about 1–2 seconds.

DELAY 2

Start the function

- Turn on the SoftXYZ function.

  CRD=1 : Robot coordinate system setting

SoftXYZ ON,CRD=1

End the function

- Turn off the SoftXYZ function.

SoftXYZ OFF