Yamaha SRCP - Manual (Page 104)

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8
ROBOT LANGUAGE
8-4 Robot Language Description
8-4 Robot Language Description
8-4-1 MOVA
Function: Moves to a point specified by a point number (Moves to an absolute
position relative to the origin point).
Format: MOVA ,
Example: MOVA 51, 80
Moves to P51 at speed 80.
Explanation: This command moves the robot to a position on the absolute coordinates
whose origin position is defined as 0.
The robot starts moving when all axes enter the positioning-completed
pulse range, and stops when all axes reach the OUT valid position.
(1) Point number
The point number is a number designated to each point from 0 to
999, a total of 1000 points, and used to create point date in PNT
(point) mode. When a character "P" is entered here for special use, a
point variable defined by the "P" statement is set as the point number.
(See "8-4-12 P".)
(2) Maximum speed
The maximum speed can be set to any level between 1 and 100. If
the execution speed in OPRT mode is 100, then 100 will be equal to
2000 mm/sec. (when PRM44=2000).
8-4-2 MOVI
Function: Moves a distance specified by a point number from the current position.
Format: MOVI ,
Example: MOVI 10, 80
Moves an amount equal to point data P10 from the current position at
speed 80.
Explanation: This command moves the robot on the relative coordinates with the cur-
rent position viewed as 0.
The robot starts moving when all axes enter the positioning-completed
pulse range, and stops when all axes reach the OUT valid position.
(1) Point number
The point number is a number designated to each point from 0 to
999, a total of 1000 points, and used to create point date in PNT
(point) mode. When a character "P" is entered here for special use, a
point variable defined by the "P" statement is set as the point number.
(See "8-4-12 P".)
(2) Maximum speed
The maximum speed can be set to any level between 1 and 100. If
the execution speed in OPRT mode is 100, then 100 will be equal to
2000 mm/sec. (when PRM44=2000).