Denso RC5 Specifications download pdf (Page 281)

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Chapter 12 Robot Control Statements

12-5

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. Therefore, care must be exercised since it requires a long

distance to stop.

Remarks: The DEPART statement can be rewritten using the MOVE

statement.

DEPART <Interpolation method>,[<Pass start displacement

amount> ]<Depart length>[,<Motion option>][,NEXT]

The following shows the statement if the above DEPART statement

is rewritten using the MOVE statement.

6-axis MOVE<Interpolation method>,[<Pass start displacement amount> ]<Current

position>+(0, 0, -<Depart length>)H[,<Motion option>][,NEXT]

Example 1: DEPART P, 70

'The same as MOVE P, P0+(0, 0, -70)H ;P0 is the current position.

Example 2: DEPART P, @P 70

'The same as MOVE P, @P P0+(0, 0, -70)H.;P0 is the current

position.

4-axis MOVE<Interpolation method>,[<Pass start displacement amount> ]<Current

position>+(0, 0, <Depart length>) [,<Motion option>][,NEXT]

Example 1: DEPART P, 70

'The same as MOVE P, P0+(0, 0, 70) ;P0 is the current position.

Example 2: DEPART P, @P 70

'The same as MOVE P, @P P0+(0, 0, 70).;P0 is the current position.

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