Used Robots.com: Motoman XRC Basic Programming

Operato r’s manual MOTOMAN XRC Page: 50 Teaching MOTOMAN ROBOTICS EUROPE Created: 99-02-03 Revised: 99-07-14 n Continuous circular When continuous circular movements must be separated from each other by a
joint or linear motion type step. This step must be inserted between two steps at
an identical point. The step at the end point of the preceding circular move must
coincide with the beginning point of the following circular move. n Play speed The play speed set display is identical to that for the linear motion type.
The speed taught at P2 is applied from P1 to P2. The speed taught at P3 is
applied from P2 to P3.
If a circular operation is taught at high speed, the actual arc path has a shorter
radius than that taught. P0 P1 P2 P3 P4 Automatically becomes a
straight line Motion type for single circular Motion type Instruction P0 Joint or Linear MOVJ
MOVL P1
P2
P3 Circular MOVC P4 Joint or Linear MOVJ
MOVL P0 P1 P2 P3
P4
P5 P6 P7 P8 Joint or Linear type Motion Type for Continuous Circular Point Motion Type Instruction P0 Joint or Linear MOVJ
MOVL P1
P2
P3 Circular MOVC P4 Joint or Linear MOVJ
MOVL P5
P6
P7 Circular MOVC P8 Joint or Linear MOVJ
MOVL


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