3-2
MOVEMENT1 motion
MOVEMENT2 motion
Fig. 3-3 Motion Examples of Two Programs
If you delete the first motion instruction “MOVE P, P1” from “MOVEMENT1”
and “MOVEMENT2”, their motions change, as shown in Fig. 3-4.
With “MOVEMENT1,” the robot moves to point P3 with an absolute motion,
however, ”MOVEMENT2” moves by V3 from the current position with a relative
motion.
MOVEMENT1 motion MOVEMENT2 motion
Fig. 3-4 Motion Examples of Two Programs (After deletion)
Note: A relative motion executes a movement to a designated relative
distance from the current position. Therefore, if you execute a
relative motion, right after you skip the motion instruction with
the INTERRUPT ON/OFF instruction (refer to “12.3 INTERRUPT
ON/OFF”), the position of motion finish may change depending
on the timing of the ON interruption signal. To fix the motion
finish position, use an absolute motion.
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