Yamaha DRCX User Manual download pdf (Page 19)

YAMAHA SR1 Provider User's Guide - 19 -

ORiN Forum DENSO WAVE Inc.

3.2. Robot class

Table 3-2 CaoRobot::Execute command list

Command Function

ORG Execute origin return.

P.20

SRVO Turn ON/OFF the servo.

P. 20

X+

Move the X axis in a plus direction for a distance of 1/100 the JOG movement

speed.

X-

Move X axis in a minus direction for a distance of 1/100 the JOG movement

speed.

P. 21

Y+

Move Y axis in a plus direction for a distance of 1/100 the JOG movement

speed.

P. 21

- Move Y axis in a minus direction for a distance of 1/100 the JOG movement

speed.

P. 22

NC Keep moving the X axis in a plus direction at the JOG movement speed.

P. 22

XDEC

Keep moving the X axis in a minus direction at the JOG movement speed.

P. 23

NC Keep moving the Y axis in a plus direction at the JOG movement speed.

P. 23

YDEC

Keep moving the Y axis in a minus direction at the JOG movement speed.

P. 24

DRVD Move the specified axis to the specified coordinate position.

P. 24

VA Move the specified axis to a point data position.

P. 25

VI Move the specified axis as much as a point data amount from current position.

P. 25

ACHA

Define the arch motion with a position specified.

P. 26

ACHI

Define the arch motion with a distance specified.

P. 26

Set point variable P.

P. 27

P+

Add 1 to point variable P.

P. 27

P-

Subtract 1 from point variable P.

P. 28

T Define a matrix.

P. 28

SEL Set a matrix number to be used for matrix movement of the Move method.

P. 29

SHFT

Shift the position data as much as the specified point data amount.

P. 29

WRITE W

rite point data.

P. 30

P Get the specified point data.

P. 30

MAT Get the specified matrix data.

P. 31

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