Denso RC5 Specifications download pdf (Page 296)

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6-axis For <Rotation center point>, designate a work coordinate point if the rotation

plane is of {XY|YZ|ZX} and(Vector type, Vector type, Vector type). And if the

rotation plane is of {XYH|YXH|ZXH}, designate a tool coordinate point.

If <Rotation center point> is ignored, the rotation center will be (0,0,0) when the

rotation plane is of {XY|YZ|ZX}. And when the rotation plane is of (Vector type,

Vector type, Vector type), the first vector becomes the rotation center.

However, if a rotation plane of {XYH|YZH|ZXH} is designated, the robot cannot

rotate around the rotation center of (0, 0, 0). Be sure to designate a rotation

center point.

4-axis For <Rotation center point>, designate a work coordinate point if the rotation

plane is of {XY} and(Vector type, Vector type, Vector type). And if the rotation

plane is of {XYH}, designate a tool coordinate point.

If <Rotation center point> is ignored, the rotation center will be (0,0,0) when the

rotation plane is of {XY}. And when the rotation plane is of (Vector type, Vector

type, Vector type), the first vector becomes the rotation center. However, if a

rotation plane of {XYH } is designated, the robot cannot rotate around the

rotation center of (0, 0, 0). Be sure to designate a rotation center point.

Designate <Rotation option> with pose=1 or pose=2.

With pose=1, the robot moves to the rotation center using the posture constant.

The range of the rotation angle is ±540°. With pose=2, the robot keeps the

current posture. If no option is designated, the robot moves in the same way

as in the case of pose=2.

For <Movement option> there are SPEED, ACCEL and DECEL options.

Motion option Meaning

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

the same as the SPEED statement.

ACCEL Designates acceleration. The meaning is the same

as the ACCEL statement. However, deceleration

cannot be designated. Use the DECEL statement

to designate deceleration.

DECEL Designates deceleration. The meaning is the same

as the DECEL statement.

If <NEXT option> is added, the robot proceeds to the next no-movement

instruction without waiting for movement to finish. However, the following

instructions will not be executed until robot movement ends (pass start).

Robot motion instructions (CHANGETOOL, CHANGEWORK, SPEED,

JSPEED, ACCEL, JACCEL, DECEL, JDECEL), optimal carrying mass setting

library (aspACLD, aspChange), arm movement library (mvSetPulseWidth, etc.)

If this command is used with the movement option, the NEXT option is no

longer valid. When <NEXT option> is added and if step stop is executed in the

waiting status for the next movement instruction, the robot will stop after

movement ends. Care should therefore be exercised since it requires a long

distance to stop.

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Denso RC5 Specifications Page 296

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