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Chapter 3 Robot Motion

3-3

3.2 Confirming Reach Position

There are three methods of determining the first motion finish when the robot

arm changes from one motion to another. They are called pass motion, end

motion and encoder value check motion. The following explains each motion.

3.2.1 Pass Motion

A pass motion is a motion to pass the vicinity of a taught motion position or

relative position.

If you designate the pass start displacement distance to “@P” or “@Numeric

value (Numeric value > 0)” for all motion commands, you can execute a pass

motion.

3.2.2 End Motion

Among motions to reach a taught motion position or relative position, an end

motion is a motion to determine if the robot has reached the destination

position when the command value of the servo system meets the destination

position.

If you designate the pass start displacement distance to “@0” for all motion

commands, you can execute an end motion.

3.2.3 Encoder Value Check Motion

Among motions to reach a taught motion position or relative position, an

encoder value check motion is a motion to determine if the robot has reached

the destination position when the encoder value entered within a designated

pulse (initial value 20) from the destination position. You can change the

designated pulse in the program for each axis.

If you designate the path pass displacement distance to “@E” for all motion

commands, you can execute an encoder value check motion.

Note (1): If the encoder value is outside the designated pulse from

the destination position, the robot does not determine it

has reach the destination position and does not proceed to

the next motion. You should consider the deviation

amount of the servo system when you decrease the

designated pulse or when the load is large.

Note (2): In machine lock operation, all motions designated with

“@E” are executed with motions of “@0”. Therefore, the

program execution time displayed is less than that of the

practical motion.

Note (3): If the reach position check method is described, the end

motion “@0” is automatically set to the pass start

displacement distance.

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