2.5.2. Parameter of step command sentence

Move conditions are required as well as Move, as movement command in order that the Robot moves from optional step to other step. Such movement conditions are referred to as parameter of step command sentence and are divided into basic parameter and selective parameter. The basic parameter is parameter essential for step, while selective parameter is parameter that operator can add if necessary. Step command sentence consists of follows:

( Basic Parameter ) ( Selective Parameter )

MOVE L, P1, S=100%, A=0, T=0, X1, X2, UNTIL I4, V6% ‘

(1) (2) (3) (4) (5) (6) (7) (8) (9)

(1) Interpolation

P (Interpolation Off), L (Linear interpolation), C (Circular interpolation), SP (Stationary tool interpolation off), SL (Stationary tool linear interpolation), SC (Stationary tool arc interpolation)

(2) Pose (X, Y,Z, Rx, Ry, Rz, Cfg) {coordinate system} + Shift (X, Y, Z, Rx, Ry, Rz) {coordinate system}

Pose variable is not specified, is called the hidden pose.

(3) Speed (Unit : mm/sec, cm/min, %, sec )

(4) Accuracy : 0 ~ 7

(5) Tool number : 0 ~ 15

(6) Step option: Spot: X1, X2, X3, X4, Palletize: PK, PU, PS

(7) Stop condition

(8) Stop status parameter

(9) Note

2.5.2.1. Interpolation

2.5.2.2. Pose

2.5.2.3. Speed