Drva - Yamaha DRCX User Manual

8-4 Robot Language Description
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26
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8-4-32 DRVA

Function:
Format:
Example:
Explanation:
Others:
Moves a specified axis to a specified point data position (absolute position
relative to the origin).
DRVA <axis>, <point number>, <maximum speed>
DRVA 1, 51, 80
Moves the X-axis to P51 at speed 80.
This command moves the specified axis to a position on absolute
coordinates whose origin is set to 0. Point data for the specified axis is
used as the target position.
The motion starts when the specified axis enters the positioning completed
pulse range, and stops when the axis reaches the OUT valid position.
(1) Axis
Specify the axis to be moved. "1" for the X-axis and "2" for the Y-
axis.
(2) Point number
The point number is a number assigned to each point from 0 to 999
(1000 points), and used to create point data in point mode. When a
character "P" is entered here for special use, a point variable defined
by the "P" statement is set as the point number. (Refer to "8-4-12
P".)
(3) Maximum speed
The maximum speed can be set to any value from 1 to 100 (100
steps). When the execution speed in OPRT mode is 100, then 100
will be equal to 3000rpm (when PRM64 and PRM104=3000).
• The point data of the axis which is not specified in the DRVA state-
ment must be entered as dummy data. Otherwise an error will occur.