Limitless Rotation - Yamaha ERCX Series User Manual

8-5 Sample Programs
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8-5-11 Limitless rotation

The robot moves continuously in the same direction for index table applications.
■ Make the following setting in advance to enable the limitless movement function.
• Set the position data unit parameter (PRM21) to 3.
■ Teach each point of P0 to P3 in advance in PNT(point) mode.
Program
[NO0]
001: L 0
002: MOVA 0,
003: MOVA 1,
004: MOVA 2,
005: MOVA 3,
006: JMP 0,
P3
M
P1
P0
Comment
; Label definition
; Moves to P0 at speed 100
100
; Moves to P1 at speed 100
100
; Moves to P2 at speed 100
100
; Moves to P3 at speed 100
100
; Jumps to L0
0
P2