Find Setting
Specifies the condition to store coordinates during motion.
Settable condition is ON/OFF of one bit I/O.
Coordinates can be saved when the condition is satisfied while the Find option is specified at motion command execution.
After the motion command with option, command to acquire the condition satisfaction status is prepared. If the condition is met, the manipulator can move to the coordinate position of the condition satisfaction by setting the saved coordinate to the point by point edit command and executing the motion command.
Example: when executing the PTP motion to P0 by Find specification and move to the saved coordinate in PTP motion.
- Move to P0 as Local coordinate 1.
- Set the save coordinate to P1.
- Specify P1 to the destination and move to the saved point by Go command.
| Command | Description | |
|---|---|---|
| No. | Code | |
| 900 | 0384H 0001H | Sets the destination of the motion command as Local coordinate 1 by Local number setting command. |
| 1000 | 03E8H 0000H 0001H | Sets the condition as I/O number = 0, logic = ON by Find condition setting command. |
| 2000 | 07D0H 8000H 0000H | Specifies the Find option for Go command and move to P0. |
| 1002 | 03EAH | Acquires the status by an acquisition command for Find condition satisfaction. |
| 1221 | 04C5H 0001H | Sets the coordinate acquired by the point edit command to P1. |
| 900 | 0384H 0000H | Disables the option which sets the destination of the motion command as Local coordinate 1 by Local number setting command. |
| 2000 | 07D0H 0000H 0001H | Executes the motion with P1 as the destination of Go command. |
CAUTION
- Coordinates which Find saves are the robot coordinates. To execute the movement to the acquired coordinate, use the robot coordinate.
- Execute the motion command with Local number setting (900) disabled.