Denso RC5 Specifications download pdf (Page 287)

100

101

Chapter 12 Robot Control Statements

12-11

DRIVEA (Statement)

Function

Executes the absolute motion of each axis.

Format

DRIVEA[<Pass start displacement> ] (<Axis number>,<Axis

coordinate>)[,(<Axis number>,<Axis number>)…][,<Motion option>][,NEXT]

Explanation

This statement moves the axis designated by <Axis number> to the angle

(DEG) designated by <Axis coordinate>.

To execute this command, it is necessary to get an arm group including a

joint(s) to be moved. If a same axis is designated several times the latest

designation becomes valid.

The value of <Pass start displacement> is expressed using the radius of the

globe with the target position centered. If the motion instruction value is

entered, the robot proceeds to the next control. Designate the value in

millimeters. This value aims to change the pass start timing, and if the end of

the arm enters the globe, the robot does not always proceed to the next

control.

If the value is ignored, it is processed as the default value @0.

If the value is @0, the robot moves in the end movement.

If @P, it moves in the pass movement.

If @E, the robot checks the arrival at the target position with the value of the

encoder and then proceeds to the next movement.

The SPEED, ACCEL, and DECEL options are available for <Motion option>.

Motion option Meaning

SPEED (or S) Designates the movement speed. The meaning is

the same as the JSPEED statement.

ACCEL Designates acceleration. The meaning is the same

as the JACCEL statement. However, deceleration

cannot be designated. Use the DECEL statement

to designate deceleration.

DECEL Designates deceleration. The meaning is the same

as the JDECEL statement.

1 2 ... 282 283 284 285 286 287 288 289 290 291 292 ... 691 692

Comments to this Manuals

No comments

Denso RC5 Specifications Page 287

Comments to this Manuals

Related products and manuals for Robotics Denso RC5