Denso RC5 Spezifikationen PDF herunterladen (Seite 442)

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Notes

(1) One program cannot hold more than one different arm group. However, it

can get the same arm group again in one program.

Example: TAKEARM 0

MOVEP,P0

TAKEARM 0 'Can get Arm Group 0 again, even if this

'program has got it.

TAKEARM 1 'Error occurs since TAKEARM attempts to

'get Arm Group 1 while Arm Group 0 has been

'held.

(2) If TAKEARM with KEEP option being set to "1" gets an arm group, the arm

speed will not be initialized and remain as that of the old arm group.

Example: If arm groups are arranged as listed below and the three

programs exist:

PROGRAM PRO1

TAKEARM 1

SPEED 10

DRIVE(7,10)

END

PROGRAM PRO2

TAKEARM 2

SPEED 20

DRIVE(7,10)

END

PROGRAM PRO3

TAKEARM 1 keep=1

DRIVE(7,10)

END

First run PRO1. The 7th-joint will move at speed 10.

Next run PRO2. The 7th-joint will move at speed 20.

Then run PRO3. Since the KEEP option is "1", the 7th-joint will move at

speed 10 keeping the speed defined by SPEED command for Arm Group 1

in PRO1.

1 2 ... 437 438 439 440 441 442 443 444 445 446 447 ... 691 692

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