Denso RC5 Specifications download pdf (Page 308)

100

101

12-32

ARRIVE (Statement) [Ver.1.2 or later]

Function

Defines the motion ratio relative to the programmed full travel distance to the

target point in order to make the current program stand by to execute the next

step until the robot reaches the defined motion ratio.

Format

ARRIVE <Motionratio>

Explanation

When an usual motion command is executed, any command on the

subsequent step cannot be executed until the completion of the current motion

or the start of pass motion. If a motion command includes an IOBLOCK or

NEXT option, however, the program may proceed to the subsequent step

halfway through the execution of the current command. This ARRIVE

command makes the program stand by to execute the next step until the robot

reaches the defined motion ratio.

<Motionratio> is the motion ratio relative to the programmed full travel distance

instructed by a motion command. The entry range is from 1 to 99 (%) which

may be set with numerals, integer variables, or floating-point variables.

ARRIVE takes effect only for robot joints. Therefore, when operating only

extended-joints by DRIVE or DRIVEA, this ARRIVE command does not work.

Example

Ex1 PROGRAM PRO1

TAKEARM

MOVE P, P1, NEXT

ARRIVE 50 'If the motion ratio reaches 50%,

SET IO[240] 'turn on IO[240].

ARRIVE I1 'If the motion ratio reaches the percentage assigned to

RESET IO[240] 'integer 1, turn off IO[240].

END

Ex2(extended-joint)

If an arm group is set in 4-joint robots as shown below, the program sample

below works as follows.

PROGRAM PRO1

TAKEARM 1

DRIVE(1,30)(7,30),NEXT

ARRIVE 50

MOVE P,P0 EX((7,30)),NEXT

ARRIVE 50

DRIVE(7,30),NEXT

ARRIVE 50

END

Since the previous command involves robot joints

also, the ARRIVE works.

Synchronized motion with extended-joints. So the

ARRIVE will works.

Since the previous DRIVE command involves an

extended-joint only, the ARRIVE does not work

and the process advances to the next line.

1 2 ... 303 304 305 306 307 308 309 310 311 312 313 ... 691 692

Comments to this Manuals

No comments

Denso RC5 Specifications Page 308

Comments to this Manuals

Related products and manuals for Robotics Denso RC5