Command 2007: Moves the arm from the current position to the specified position in Arc interpolation motion in 3D
Moves the arm to the specified point using circular interpolation in 3 dimensions.
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 affects the number of parameters.
Other options do not affect the number of parameters. For Parameter 2 and later for 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 use a parallel processing 0 = No 1 = Yes | |
| 12 | CP | Select whether to use a path motion 0 = No 1 = Yes | |
| 11 | Speed / Accel | Specify whether to set Speed / Accel before executing the motion command. 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 | ROT | Give priority to tool orientation change and determine motion speed and acceleration / deceleration 0 = do not use 1 = use | |
| 6 | Reserved | Specify “0”. | |
| ｜ | |||
| 0 |
- No Speed / Accel setting
In this case, use until Parameter 3.
Command No., Parameter 1, Parameter 2, Parameter 3
| bit | Name | Description | |
|---|---|---|---|
| Parameter 2 | 15 | midPoint | Specify by a point number. The middle point (taught previously by the user) which the arm travels through on its way from the current point to endPoint. |
| 14 | |||
| ｜ | |||
| 1 | |||
| 0 |
| bit | Name | Description | |
|---|---|---|---|
| Parameter 3 | 15 | destination | Specify by a point number. The end point (taught previously by the user) which the arm travels to during the arc type motion. This is the final position at the end of the circular move. |
| 14 | |||
| ｜ | |||
| 1 | |||
| 0 |
- With Speed / Accel setting
In this case, use until Parameter 4.
Command No., Parameter 1, Parameter 2, Parameter 3, Parameter 4
| bit | Name | Description | |
|---|---|---|---|
| Parameter 2 | 15 | midPoint | Specify by a point number. The middle point (taught previously by the user) which the arm travels through on its way from the current point to endPoint. |
| 14 | |||
| ｜ | |||
| 1 | |||
| 0 |
| bit | Name | Description | |
|---|---|---|---|
| Parameter 3 | 15 | destination | Specify by a point number. The end point (taught previously by the user) which the arm travels to during the arc type motion. This is the final position at the end of the circular move. |
| 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 |
Response Syntax
Refer to the following.
Description
Moves the arm to the specified point using circular interpolation in 3 dimensions.
For the rest about the command, refer to the following.
Example
When the midpoint is P1 and endPoint is P2, without an option.
| Command | Response |
| 07D7H 0000H 0001H 0002H | 07D7H 0000H 0000H |