Limitless Movement At Same Pitch - Yamaha ERCX Series User Manual

8-5-10 Limitless movement at same pitch

The robot moves continuously in the same direction at the same pitch (e.g. 150mm) for cycle con-
veyor applications.
■ Make the following settings in advance to enable the limitless movement function.
• Set the position data unit parameter to 2.
• Set the plus soft limit to 200. This is a multiple of the lead equivalent value. (The
lead equivalent value is assumed to be 20mm.)
■ Set P0=0, P1=150 in advance in PNT(point) mode.
Program
[NO0]
001: MOVA 0,
002: L 0
003: MOVI 1,
004: JMP 0,
Comment
; Moves to P0 at speed 100
100
; Label definition
; Moves 150mm
100
; Jumps to L0
0
8-5 Sample Programs
150mm
M
37
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8