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Linear actuator, Linear unit, Linear servo-motor, Pick and place robot, Linear module
Text version of the page
| (35)@SHFT <point number> Shifts the position data by an amount equal to the distance defined by a specified point number. The shifted data is valid until the SHFT statement is executed again or until the program is reset. Point number : This is a number used to identify each point (position data) and can be from 0 to 999 (a total of 1,000 points). Data for the point numbers can be edited with the @WRITE PNT statement. The point variable P can also be used. Transmission example : @SHFT 1 c/r l/f............................Shifts the point data by an amount defined by point number 1 and the shifted data is used with the subsequent movement commands. Response example : OK c/r l/f C caution- When the program is reset, the shift data will be initialized to (0.00, 0.00). The movement commands affected by the execution of the SHFT command are MOVA, MOVF, MOVM, DRVA, ACHA, MOVL and MOVC. MOVD, DRVD, MOVI, DRVI and ACHI are not affected. | ||||||||||||||||||||||||||||
| (36)@MOVL <point number>,<speed> Moves to the position specified by a point number in a linear interpolation motion. | ||||||||||||||||||||||||||||
| Point number | ||||||||||||||||||||||||||||
| This is a number assigned to each point (position data) and can be from 0 to 999 (a total of 1,000 points). Data for the point numbers can be edited with the @WRITE PNT statement. The point variable "P" can also be used. The speed can be set to any level between 1 and 100. If PRM17 (Maximum program speed) is 100, then 100 will be equal to 1000mm/s (when PRM64 and PRM104 are set to 3000 and the ball screw lead is 20mm). | ||||||||||||||||||||||||||||
| Speed | ||||||||||||||||||||||||||||
| 11 | ||||||||||||||||||||||||||||
| Transmission example : @MOL 123,100 c/r l/f | ||||||||||||||||||||||||||||
| . Moves to point 123 in a linear interpolation motion at 100% speed. | ||||||||||||||||||||||||||||
| Response example 1 Response example 2 | ||||||||||||||||||||||||||||
| : OK c/r l/f : NG c/r l/f .............................. 30: soft limit over c/r l/f | ||||||||||||||||||||||||||||
| . The target position exceeds the soft limit. Change the point data or soft limit parameter. | ||||||||||||||||||||||||||||
| CAUTION- Interpolation movement cannot resume even if it is not yet finished. So, if interpolation movement is stopped by an interlock signal, the program should be reset and restarted from the beginning. Linear interpolation movement cannot be performed on SCARA type robots which do not operate on a rectangular coordinate system. | ||||||||||||||||||||||||||||
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