Yamaha DRCX User Manual page 245

11-5 Communication Command Description
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12
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(12)@MOVI <point number>,<speed>
Moves the robot a distance specified by a point number from the current position, at a specified
speed.
Point number
Speed
Transmission example
Response example 1
Response example 2
c
CAUTION
When movement is interrupted with a stop (^C) statement, the current position in the program stays unchanged
so that the movement can be resumed by executing the @MOVI command again. However, if the command is
reset, the current position in the program is initialized to the actual robot position.
(13)@MOVF <point number>,<DI number>,<DI status>
This command moves the robot toward a position specified by a point number until a specified DI
input condition is met. When the DI condition is met, the robot stops and the command termi-
nates. Even if the DI condition is not met, the command terminates when the target point is reached.
Point number
DI number
DI status
Transmission example
Response example
c
CAUTION
The movement speed is set with PRM4 (MOVF speed) and independent of the PRM17 setting (Maximum
program speed).
: This is a number assigned to each point (position data) and can
be from 0 to 999 (a total of 1,000 points). Data for the point
numbers can be edited with the @WRITE PNT statement. The
point variable "P" can also be used.
: The speed can be set to any level between 1 and 100. If PRM17
(Maximum program speed) is 100, then 100 will be equal to 3000
rpm (when PRM64 and PRM104=3000).
: @MOVI 123,100 c/r l/f ................ Moves the robot a distance
: OK c/r l/f
: NG c/r l/f ...................................... The target position exceeds the
30: soft limit over c/r l/f
: This is a number assigned to each point (position data) and can
be from 0 to 999 (a total of 1,000 points). Data for the point
numbers can be edited with the @WRITE PNT statement. The
point variable "P" can also be used.
: Specify one of the general-purpose inputs DI0 to DI15.
: Specify 1 (ON) or 0 (OFF) as the input condition.
: @MOVF 2,10,l c/r l/f ................... Moves to point 2 until DI10
: OK c/r l/f
defined by point 123, at 100%
speed.
soft limit. Change the point
data or soft limit parameter.
becomes 1 (ON).