SPEL_Move
Description
Moves the arm from the current position to the specified position in a linear interpolation motion.
Common Inputs and Outputs
Reference: Function Blocks Common Inputs and Outputs
Inputs
- Point
- UINT desired point number.
- TargetType
- UINT Specifies method to reach the target position.
0 = Target specified by point number.
1 = Target specified by position in the pallet.
2 = Target specified by coordinates of the pallet.
- PalletNum
- UINT Specifies the pallet number to be used.
- PalletPosOrCol
-
UINT TargetType=0 specifies 0.
UINT TargetType=1 specifies pallet position.
UINT TargetType=2 specifies pallet column.
- PalletRow
-
UINT TargetType=0 specifies 0.
UINT TargetType=1 specifies 0.
UINT TargetType=2 specifies pallet row.
- MaxTime
- DINT The maximum execution time allowed.
Operation
Reference: Function Blocks General Operation
For more details, refer to the following manual:
"SPEL+ Language Reference manual - Move Statement"
Example
To move the end effector to point P20, run the Function Block as shown below.
