Motion Commands
| Group | Command number | Hexadecimal | Description | Number of Words | |
|---|---|---|---|---|---|
| Command | Response | ||||
| PTP motion from the current arm position to the specified position (Go) | 2000 | 7D0H | Moves from the current position to the specified position in PTP motion | ||
| Destination specification = 0 Speed and Accel not specified | 3 | 3 | |||
| Destination specification = 1 Speed and Accel not specified | 4 | ||||
| Destination specification = 2 Speed and Accel not specified | 5 | ||||
| Destination specification = 0 Speed and Accel specified | 4 | ||||
| Destination specification = 1 Speed and Accel specified | 5 | ||||
| Destination specification = 2 Speed and Accel specified | 6 | ||||
| Gate motion PTP motion (Jump) | 2001 | 7D1H | Moves in PTP motion with gate motion | ||
| Destination specification = 0 Speed and Accel not specified | 3 | 3 | |||
| Destination specification = 1 Speed and Accel not specified | 4 | ||||
| Destination specification = 2 Speed and Accel not specified | 5 | ||||
| Destination specification 0 Speed and Accel specified | 4 | ||||
| Destination specification 1 Speed and Accel specified | 5 | ||||
| Destination specification 2 Speed and Accel specified | 6 | ||||
| 3D gate motion (2 CP motion and 1 PTP motion) (Jump3) | 2002 | 7D2H | Moves the arm with 3D gate motion This is a combination of two CP motion and one PTP motion. | ||
| Speed and Accel not specified | 5 | 3 | |||
| Speed and Accel specified | 6 | ||||
| 3D gate motion 3 CP motion (Jump3CP) | 2003 | 7D3H | Moves the arm with 3D gate motion This is a combination of three CP motion. | ||
| Speed and Accel not specified | 5 | 3 | |||
| Speed and Accel specified | 6 | ||||
| Linear interpolation motion (Move) | 2005 | 7D5H | Moves the arm from the current position to the specified position in a linear interpolation motion | ||
| Destination specification = 0 Speed and Accel not specified | 3 | 3 | |||
| Destination specification = 1 Speed and Accel not specified | 4 | ||||
| Destination specification = 2 Speed and Accel not specified | 5 | ||||
| Destination specification 0 Speed and Accel specified | 4 | ||||
| Destination specification 1 Speed and Accel specified | 5 | ||||
| Destination specification 2 Speed and Accel specified | 6 | ||||
| Arc interpolation motion (Arc) (Arc3) | 2006 | 7D6H | Moves the arm from the current position to the specified position in Arc interpolation motion on XY plane face | ||
| Speed and Accel not specified | 4 | 3 | |||
| Speed and Accel specified | 5 | ||||
| 2007 | 7D7H | Moves the arm from the current position to the specified position in Arc interpolation motion in 3D | |||
| Speed and Accel not specified | 4 | 3 | |||
| Speed and Accel specified | 5 | ||||