10.5.1.1. MOVE

10.5.1.1. MOVE

 

Explanation	Ends of robot tool move to target pose.
Syntax	MOVE <Interp.>, [<Pose>], S=<Speed >, A=<Accu.>, T=<Tool number> [,<Output option>] [ UNTIL <Condition>[,<Interrupt state variable>] ]
Parameter	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	Target pose. In case of hidden pose, it is omitted, or only shift formula is assigned.	Pose formula
	Speed	Moving speed of tool ends. Unit (mm/sec, cm/min, sec, %) should be accompanied.	Arithmetic formula
	Accu.	Arithmetic formula.  The lower, the more precise In the case of 0, discontinue operation	0~7
	Tool number	Number of tools to be used during robot operation	0~15
	Output option	X1, X2, X3, X4, PU, PK, PS (Multiple assignments are possible.)
	Condition	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	MOVE C,P[0]+R[1],S=800mm/s,A=0,T=1 MOVE P,R1, S=80%,A=1,T=3 UNTIL DI1  (Hidden pose) MOVE L,S=0.5sec,A=0,T=0, X1 UNTIL DI2=&H7F,V1%  (Hidden pose)

 

 

 

l  If MOVE command is inputted by a <REC> key on T/P, it becomes hidden pose form.

 

l  If shift formula is recorded in <pose> on T/P, it becomes hidden pose form and the target pose becomes (hidden pose + shift formula).

 

l Output options are X1, X2, PU, PK and PS in the palletizing mode. ‘X1 and X2’ and ‘PU, PK, PS’ cannot be assigned at the same time. Refer to 『Hi5a Controller Palletize Function Manual』 for detailed explanation about the individual member variables.