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11. Robot Language Explanation
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11.2.2 Robot Control
11.2.2.1 MOVE Command
Note
(1) If Move command is input by using <REC> key of T/P, it becomes hidden pose type.
(2) If shift data is recorded in the pose position by using T/P, it becomes hidden pose
type.
(3) There are MX, G1, PU, PK, PS in the output option of palletizing mode. Signals such
as MX and G1 or PU, PK, PS cannot be used simultaneously. Detailed is referred to the
Palletizing function.
(4) When using robot equalizing, G1 and G2 cannot be used simultaneously.
Description The tool end of the robot moves to pose position.
Syntax
MOVE <Interpolation>, [<Pose>], S=<Speed>, A=<Accuracy>, H=<Tool Number>
[,<Output Option>] [ UNTIL <Condition>[,<Interrupt Status Variable>] ]
Interpo
lation
P : No Interpolation, L : Straight, C : ARC
Pose
Pose type, Target pose to move. If there is hidden pose,
it is omitted or only the shift type is specified.
Speed
Arithmetic Equation. The moving speed of the tool end.
Unit(mm/sec, cm/min, sec, %) has to be accompanied.
Accurac
y
Arithmetic Equation. 0∼3 0 is most accurate
Tool
Number
Arithmetic Equation. 0∼3
Output
O
p
tion
MX, MX2, G1, G2, BM (Multiple selection possible)
Conditi
on
If the condition is met, robot operation stops and it
is assumed to reach the specified pose.
Parameter
Interru
pt
Status
Saves the result of the condition.
Provides the information if Move command is exited by
the condition.
Used with
UNTIL
command
example
MOVE C, P[0]+R[1], S=800mm/s, A=0, H=1
MOVE P, R1, S=80%, A=1, H=3 UNTIL DI1=1 (hidden pose)
MOVE L, S=0.5sec, A=0, H=0, MX, G1 UNTIL DI2=&H7F, V1% (hidden pose)