Yamaha DRCX User Manual page 253

11-5 Communication Command Description
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(37)@MOVC <point number>, <speed>, <locus type>
Performs a circular interpolation motion passing through the position specified by a point number.
For example, when the circular segment is selected as the locus type and the point number is
specified as n, the robot moves from the current position along a circular segment locus with the
end point of point n+1, passing through point n. In the case of a circular locus, the robot moves
from the current position along a circular locus with the same start and end points, passing through
points n and n+1.
Point number
Speed
Locus type
Transmission example
Response example 1
Response example 2
c
CAUTION
The radius that allows interpolation motion is 1000mm maximum and 2mm minimum.
Interpolation motion cannot resume if interrupted before completion. So, if interpolation motion is stopped by
an interlock signal, the program must be reset and restarted from the beginning.
SCARA robots cannot move in a circular interpolation motion because they do not operate on a Cartesian
coordinate system.
: 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
1000mm/s (when PRM64 and PRM104 are set to 3000 and the
ball screw lead is 20mm).
: Select the locus type. "0" for the circular segment locus and "1"
for the circular locus.
: @MOVC 123,100,0 c/r l/f ............ Moves from the current
: OK c/r l/f
: NG c/r l/f ...................................... The target position exceeds the
30: soft limit over c/r l/f
position along a circular
segment locus with point 124
specified as the end point,
passing through point 123 at
100% speed.
soft limit. Change the point
data or soft limit parameter.