Denso RC5 Specifications download pdf (Page 104)

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101

3-14

3.4 If Output Command Is Present after

Motion Instruction

The current position of the robot normally experiences delay in moving to the

position commanded by the robot controller, when the motion command is

executed.

In the case of the end motion, the robot controller proceeds to the next

command after the command position reaches the destination position of the

motion command. Therefore, if there is an output command after the motion

command, the output command may possibly be executed before the robot

reaches the destination position.

There are the following methods to execute the next command after the robot

reaches the destination position.

• Set wait time with a DELAY command (Fig. 3-25 shows a program

example).

• Do not use an end motion. Use an encoder value check motion. Fig. 3-26

shows a program example.

Note: In the encoder value check motion, if the payload is heavy, the

encoder value may not completely meet the destination

position.

PROGRAM PRO13

MOVE L, @0 P3

DELAY 500

SET IO1

RESET IO2

END

'End motion command

'Waits 0.5 seconds.

'Sets I/O1 to ON.

'Sets I/O2 to OFF.

Fig. 3-25 Program Example to Set Wait Time Due to the DELAY Command

PROGRAM PRO13

MOVE L, @E P3

SET IO1

RESET IO2

END

'Encoder value check motion

'command

'Sets I/O1 to ON.

'Sets I/O2 to OFF.

Fig. 3-26 Program Example using an Encoder Value Check Motion

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Denso RC5 Specifications Page 104

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