Denso RC5 Specifications download pdf (Page 94)

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3-4

3.2.4 Motion Examples of Pass, End and Encoder Value Check

These examples show three programs to move the robot from the current

position P1 to point P3 through point P2. They are program examples of pass

motion, end motion and encoder value confirmation motion, respectively.

PROGRAM PASS_MOVE

TAKEARM

MOVE P, @P P2

MOVE P, @0 P3

END

Fig. 3-5 Pass Motion Program Example

PROGRAM END_MOVE

TAKEARM

MOVE L, @0 P2

MOVE L, @0 P3

END

Fig. 3-6 End Motion Program Example

PROGRAM ENCODER_MOVE

TAKEARM

MOVE L, @E P2

MOVE L, @0 P3

END

Fig. 3-7 Encoder Value Check Motion Program Example

Pass motion

End motion

Encoder value check motion

Servo deviation

Fig. 3-8 Examples of Pass Motion, End Motion and Encoder Value Check

Motion

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Denso RC5 Specifications Page 94

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