Used Robots.com: Panasonic G Advanced Programming

Commands 2-2 2-2-2 MOVEL A command to move the robot to the next teaching point with linear
interpolation motion. ｷ  CL number can be either “0” or “3”. (It is not possible to specify “1” or “2”.) ｷ CL No. = 0 : ﾗﾗﾗ Normal linear interpolation. ｷ CL No. = 3 2 : ﾗﾗﾗ Interpolation of RW, BW and TW axes based on the equiangle to the
next teaching point position. ｷ   The robot travel time is calculated as follows according to the specified speed unit. ｷ   Speed unit is M/min : The robot moves to the next teaching point at the travel time of the
linear distance divided by the set speed.
If the calculated speed exceeds the max. speed of the axis, the
speed is reduced based on the max. speed of the axis. ｷ   Speed unit is % : The robot moves to the next teaching point at the travel time of the
linear distance divided by the speed (120.00ｴ Set speed (%)).
If the calculated speed exceeds the max. speed of the axis, the
speed is reduced based on the max. speed of the axis. ｷ Apply this command to circular, weaving or circular weaving end point.                                                   2 It is used to pass a specific point. Refer to Appendix A-4 “Error recovery at specific position” for
the details.


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