Yamaha DRCX User Manual page 136

■ When the position data unit parameter is set to 3:
When this parameter is set to 3, the current position is expressed in degrees (°) from 0 to 359.99 as
a basic cycle. Therefore, even if the robot moves to the 360° point, that position sets to 0°
(=360°) so that the robot can rotate continuously in the same direction.
In limitless movement, the rotation direction can also be selected with a movement command
such as MOVA which specifies a target position.
To select the rotation direction opposite the return-to-origin direction, add 5000° to the target
point for point setting. To select the same rotation direction as when performing return-to-origin,
add 5000° to the target point and give a minus sign to this value. When the rotation direction is not
specified, the robot moves in the direction of shorter distance. For example, when just 30° is
specified for the point setting, the rotation direction differs depending on the current position.
However, when 5030° is specified, the robot always rotates in the direction opposite the return-to-
origin direction. In contrast, when -5030° is specified, the robot always rotates in the same direc-
tion as when performing return-to-origin.
In the case of a movement command such as MOVI which specifies the amount of movement, the
movement direction is determined by the plus/minus sign of point data, just as with normal move-
ment.
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CAUTION
• The maximum distance of one movement is a distance equal to one cycle (360°). To move a distance longer
than one cycle, divide the movement distance into two or more portions.
• In limitless movement, @XINC (@XDEC) or @YINC (@YDEC) allows moving a distance equal to one cycle.
The movement speed setting and stop method are just the same as for normal movement.
• If the target point is the same as the current position on the program when executing a movement command
such as MOVA which specifies a position, the robot motion differs depending on whether the rotation
direction is selected by point setting, as follows:
When the rotation direction is selected: Rotates through 360° in the selected direction and stops.
When no rotation direction is selected: Does not move.
• Limitless movement cannot be performed in combination with the ACHA or ACHI statement.
• Use caution when operating the robot since the soft limits are disabled during limitless movement.
*1) These movement commands include MOVA, MOVF, MOVD, MOVM, DRVA and DRVD statements. The MOVD
and DRVD statements are provided only for communication commands and can directly specify the target point.
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8-3 Program Function
*1)
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