Command 2000: Moves from the current position to the specified position in PTP motion
Moves the Arm from the current position to the specified position using PTP motion.
Command Syntax
- Option
Specify the target position specifying method and each option. The number of necessary parameters varies depending on the specified options. Speed / Accel setting and target position specifying method affect the number of parameters. Other options do not affect the number of parameters.
For Parameter 2 and later by options, follow the descriptions (2) and later.
Options are specified by Parameter 1.
| bit | Name | Description | |
|---|---|---|---|
| Parameter 1 | 15 | Till / Find | Specify Till and Find options. 0 = not specify 1 = Till 2 = Find |
| 14 | |||
| 13 | Parallel processing | Select whether to do parallel processing 0 = No 1 = Yes | |
| 12 | CP | Select whether to do a CP motion 0 = No 1 = Yes | |
| 11 | Speed / Accel | Select whether to set Speed / Accel before the motion command execution 0 = do not set 1 = set only Speed 2 = set only SpeedS 3 = set only SpeedR 4 = set only Accel 5 = set only AccelS 6 = set only AccelR 7 = set Speed and Accel 8 = set SpeedS and AccelS 9 = set SpeedR and AccelR | |
| 10 | |||
| 9 | |||
| 8 | |||
| 7 | reserved | Specify “0” | |
| ｜ | |||
| 3 | |||
| 2 | Target position specifying method | Select the specifying method of the target position 0 = Setting by point number 1 = Setting by position in the pallet 2 = Setting by coordinate in the pallet | |
| 1 | |||
| 0 |
- When selected “Setting by point number” for Target position specifying method and “do not set” in Speed / Accel.
In this case, use until Parameter 2.
Command No., Parameter 1, Parameter 2
| bit | Name | Description | |
|---|---|---|---|
| Parameter 2 | 15 | pointNumber | Specifies the target position by a point number |
| 14 | |||
| ｜ | |||
| 1 | |||
| 0 |
- When selected “Setting by position in the pallet” for Target position specifying method and “do not set” in Speed / Accel.
In this case, use until Parameter 3.
Command No., Parameter 1, Parameter 2, Parameter 3
| bit | Name | Description | |
|---|---|---|---|
| Parameter 2 | 15 | palletNumber | Specifies the pallet number to be used |
| 14 | |||
| ｜ | |||
| 1 | |||
| 0 |
| bit | Name | Description | |
|---|---|---|---|
| Parameter 3 | 15 | position | Specifies the pallet position |
| 14 | |||
| ｜ | |||
| 1 | |||
| 0 |
- When selected “Setting by coordinate in the pallet” for Target position specifying method and “do not set” in Speed / Accel.
In this case, use until Parameter 4.
Command No., Parameter 1, Parameter 2, Parameter 3, Parameter 4
| bit | Name | Description | |
|---|---|---|---|
| Parameter 2 | 15 | palletNumber | Specifies the pallet number to be used |
| 14 | |||
| ｜ | |||
| 1 | |||
| 0 |
| bit | Name | Description | |
|---|---|---|---|
| Parameter 3 | 15 | row | Specifies the row in the pallet |
| 14 | |||
| ｜ | |||
| 1 | |||
| 0 |
| bit | Name | Description | |
|---|---|---|---|
| Parameter 4 | 15 | line | Specifies the line in the pallet |
| 14 | |||
| ｜ | |||
| 1 | |||
| 0 |
- When selected “Setting by point number” for Target position specifying method and “set Speed and Accel” in Speed / Accel.
In this case, use until Parameter 3.
Command No., Parameter 1, Parameter 2, Parameter 3
| bit | Name | Description | |
|---|---|---|---|
| Parameter 2 | 15 | pointNumber | Specifies the target position by a point number |
| 14 | |||
| ｜ | |||
| 1 | |||
| 0 |
| bit | Name | Description | |
|---|---|---|---|
| Parameter 3 | 15 | Speed / SpeedS / SpeedR | Specifies the speed table number of the selected type by an integer from 0 to 15. * Specify “0” if acceleration and deceleration are not set. |
| ｜ | |||
| 8 | |||
| 7 | Accel / AccelS / AccelR | Specifies the acceleration/deceleration table number of the selected type by an integer from 0 to 15. *Specify “0” if acceleration and deceleration are not set. | |
| ｜ | |||
| 0 |
- When selected “Setting by position in the pallet” for Target position specifying method and “set Speed and Accel” in Speed / Accel.
In this case, use until Parameter 4.
Command No., Parameter 1, Parameter 2, Parameter 3, Parameter 4
| bit | Name | Description | |
|---|---|---|---|
| Parameter 2 | 15 | palletNumber | Specifies the pallet number to be used |
| 14 | |||
| ｜ | |||
| 1 | |||
| 0 |
| bit | Name | Description | |
|---|---|---|---|
| Parameter 3 | 15 | position | Specifies the pallet position |
| 14 | |||
| ｜ | |||
| 1 | |||
| 0 |
| bit | Name | Description | |
|---|---|---|---|
| Parameter 4 | 15 | Speed / SpeedS / SpeedR | Specifies the speed table number of the selected type by an integer from 0 to 15. *Specify “0” if acceleration and deceleration are not set. |
| ｜ | |||
| 8 | |||
| 7 | Accel / AccelS / AccelR | Specifies the acceleration/deceleration table number of the selected type by an integer from 0 to 15. *Specify “0” if acceleration and deceleration are not set. | |
| ｜ | |||
| 0 |
- When selected “Setting by coordinate in the pallet” for Target position specifying method and “set Speed and Accel” in Speed / Accel.
In this case, use until Parameter 5.
Command No., Parameter 1, Parameter 2, Parameter 3, Parameter 4, Parameter 5
| bit | Name | Description | |
|---|---|---|---|
| Parameter 2 | 15 | palletNumber | Specifies the pallet number to be used |
| 14 | |||
| ｜ | |||
| 1 | |||
| 0 |
| bit | Name | Description | |
|---|---|---|---|
| Parameter 3 | 15 | row | Specifies the row in the pallet |
| 14 | |||
| ｜ | |||
| 1 | |||
| 0 |
| bit | Name | Description | |
|---|---|---|---|
| Parameter 4 | 15 | line | Specifies the line in the pallet |
| 14 | |||
| ｜ | |||
| 1 | |||
| 0 |
| bit | Name | Description | |
|---|---|---|---|
| Parameter 5 | 15 | Speed / SpeedS / SpeedR | Specifies the speed table number of the selected type by an integer from 0 to 15. *Specify “0” if acceleration and deceleration are not set. |
| ｜ | |||
| 8 | |||
| 7 | Accel / AccelS / AccelR | Specifies the acceleration/deceleration table number of the selected type by an integer from 0 to 15. *Specify “0” if acceleration and deceleration are not set. | |
| ｜ | |||
| 0 |
Response Syntax
Refer to the following.
Description
Moves the arm from the current position to the specified position using PTP motion.
The Go command moves all manipulator arms simultaneously in PTP motion.
With this function, target position is determined by specifying the point number and specifying the pallet.
The path is not predictable because each joint interpolates between the current point and the target point. Be careful of the interference with peripherals.
Speed of Go command can be set by Speed command. And Accel command determines acceleration and deceleration.
With CP parameter, the arm can accelerate for the next motion command while the arm starts decelerating to a stop. In this case, the arm is not positioned at the target point.
You can use the parallel processing option to output to I/O during command execution. To use the option, register the condition list by parallel processing list command and select the list to be used during the command execution beforehand.
Notes
Difference between Go and Move
The Move and Go commands each cause the manipulator arm to move. The primary difference between the two instructions is that the Go command causes point to point motion whereas the Move command causes the arm to move in a straight line. The Go command is used when the user is primarily concerned with the orientation of the arm when it arrives on point. The Move command is used when it is important to control the path of the robot arm while it is moving.Difference between Go and Jump
Jump command and Go command each cause the manipulator arm to move in a point to point type fashion. However, the Jump command has one additional feature. Jump causes the robot end effector to first move up to the LimZ value, then in a horizontal direction until it is above the target point, and then finally down to the target point. This allows Jump to be used to guarantee object avoidance and more importantly to improve cycle times for pick and place motion.Proper Speed and Acceleration Instructions with Go
The Speed and Accel commands are used to specify the speed and acceleration of the manipulator during motion caused by the Go command. Pay close attention to the fact that the Speed and Accel commands apply to point to point type motion (like that for the Go command) while linear and circular interpolation motion uses the SpeedS and AccelS commands.Using Go with the Optional Till Modifier
The optional Till modifier allows the user to specify a condition to cause the robot to decelerate to a stop at an intermediate position prior to completing the motion caused by the Go command. If the Till condition is not satisfied, the robot travels to the target position.
Checks if the current Till condition becomes satisfied. If satisfied, this command completes by decelerating and stopping the robot at an intermediate position prior to completing the motion caused by the Go command.
To use Till command, specify the conditions by Till setting commands beforehand.Using Go with the Optional Find Modifier
The optional Find modifier allows the user to specify a condition to cause the robot to record a position during the motion caused by the Go command.
Checks if the current Find condition is satisfied. If satisfied, the current position is stored in the special point FindPos. By using the point edit command, the user can acquire the coordinate of the desired point. With the acquired point, the user can move the manipulator to the position where the condition is satisfied.Go Command Always Decelerates to a Stop
The Go command always causes the arm to decelerate to a stop prior to reaching the final destination of the move.Potential errors
Attempt to Move Outside of Robots Work Envelope.
When using explicit coordinates with the Go instruction, you must make sure that the coordinates defined are within the robots valid work envelope. Any attempt to move the robot outside of the valid work envelope will result in an error
Example
When specifying P1 by point number determination without an option.
| Command | Response |
| 07D0H 0000H 0001H | 07D0H 0000H 0000H |
When specifying Pallet 15 by pallet position determination, with position =10, without an option.
| Command | Response |
| 07D0H 0001H 000FH 000AH | 07D0H 0000H 0000H |
When specifying Pallet 15 with row = 1 Line = 3 by pallet coordinate determination without an option.
| Command | Response |
| 07D0H 0002H 000FH 0001H 0003H | 07D0H 0000H 0000H |
When specifying Pallet 15 with row = 1 Line = 3 by pallet coordinate determination without an option.
| Command | Response |
| 07D0H 0100H 0001H 0800H | 07D0H 0000H 0000H |