Denso RC5 Specifications download pdf (Page 295)

100

101

Chapter 12 Robot Control Statements

12-19

ROTATE (Statement) [Conforms to SLIM]

Function

Executes a rotation movement around the designated axis.

Format

ROTATE <Rotation plane>,[@<Pass start displacement>],<Relative rotation

angle> [,[<Rotation center point>] [,<Rotation option>] [,<Movement

option>][,NEXT]]

Rotation plane format

6-axis {{XY|YZ|ZX}|{XYH|YZH|ZXH}|(Vector type, vector type, vector type)}

4-axis {{XY}|{XYH}}

Explanation

The hand rotates around the axis vertically created in <Rotation plane> by the

angle designated <Rotation angle>. There are two types of rotation axes in the

rotation plane. The axis with the smaller angle made in the approach vector is

selected.

The rotation plane can be selected from the following seven planes.

Rotation plane format

6-axis If the rotation plane is parallel to the XY, YZ and ZX planes of the work

coordinates, designate XY|YZ|ZX.

If the rotation plane is parallel to the XY, YZ and ZX planes of the tool

coordinates, designate XYH|YZH|ZXH.

A plane seen from the base coordinates is created from the three points of the

XYZ coordinates (Vector type, Vector type, Vector type).

4-axis If the rotation plane is parallel to the XY planes of the work coordinates,

designate XY.

If the rotation plane is parallel to the XY planes of the tool coordinates,

designate XYH.

A plane seen from the base coordinates is created from the three points of the

XYZ coordinates (Vector type, Vector type, Vector type).

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

globe with the designated coordinates (pause) 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 unit of measurement of <Relative rotation angle> is degrees (DEG) and

the sign is plus (+) for the right-handed screw.

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Denso RC5 Specifications Page 295

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