BMove Statement

Executes linear interpolation relative motion, in the selected local coordinate system.

Syntax
BMove destination [ROT] [CP] [Till | Find ] [ !Parallel Processing! ] [SYNC]

Parameters

destination

Point data is used to specify the target position of the operation.

ROT

Optional. Decides the speed/acceleration/deceleration in favor of tool rotation.

CP

Optional. Specifies continuous path motion.

Till | Find

A Till or Find expression. This value is optional.

Till | Find
Till Sw(expr) = {On | Off}
Find Sw(expr) = {On | Off}

! Parallel Processing !

Parallel Processing statements can be added to execute I/O and other commands during motion. This value is optional.

SYNC

Reserves a motion command. The robot will not move until SyncRobots is executed.

Description
Executes linear interpolation relative motion, in the selected local coordinate system. Performs linear interpolation relative motion based on the coordinate system specified by point data indicating the target coordinates.

If a local coordinate system is not specified, relative motion will occur in local 0 (base coordinate system).

Arm orientation attributes specified in the destination point expression are ignored. The manipulator keeps the current arm orientation attributes. However, for a 6-Axis manipulator (including N series), the arm orientation attributes are automatically changed in such a way that joint travel distance is as small as possible. This is equivalent to specifying the LJM modifier parameter for Move statement. Therefore, if you want to change the arm orientation larger than 180 degrees, execute it in several times.

BMove uses the SpeedS speed value and AccelS acceleration and deceleration values. Refer to Using BMove with CP below on the relation between the speed/acceleration and the acceleration/deceleration. If, however, the ROT modifier parameter is used, Move uses the SpeedR speed value and AccelR acceleration and deceleration values. In this case SpeedS speed value and AccelS acceleration and deceleration value have no effect.

If the robot attempts to change only the tool orientation rotation while keeping the tool tip position fixed at a specific coordinate, or if the tool orientation rotation is large relative to the distance traveled by the tool tip, the tool orientation rotation speed may become significantly faster. To prevent this, the operation speed is automatically limited when the speed of tool orientation rotation is too high.

If you wish to manually set the upper limit of the tool orientation rotation speed during CP motion, turn on SpeedRLimitation. When SpeedRLimitation is turned on, if the tool orientation rotation speed exceeds the set SpeedR during CP motion, the motion speed is limited so that the tool orientation rotation speed equals to SpeedR. If the tool orientation rotation speed does not exceed the set SpeedR, it moves at the set speed (SpeedS). Set the upper limit of the tool orientation rotation speed in advance using SpeedR.

The Till modifier allows the robot to decelerate and stop in the middle of motion to complete a BMove when the Till condition is satisfied.

The Find modifier is used to store a point in FindPos when the Find condition becomes true during motion.

!Parallel Processing! can be used to execute other processes in parallel with motion.

Note

Using BMove with CP

The CP parameter causes the arm to move to destination without decelerating or stopping at the point defined by destination. This is done to allow the user to string a series of motion instructions together to cause the arm to move along a continuous path while maintaining a specified speed throughout all the motion. The BMove instruction without CP always causes the arm to decelerate to a stop prior to reaching the point destination.

BMove Statement Example

> BMove XY(100, 0, 0, 0)'Move 100 mm in the X direction (in the local coordinate system)

Function BMoveTest

  Speed 50
  Accel 50, 50
  SpeedS 100
  AccelS 1000, 1000
  Power High

  P1 = XY(300, 300, -20, 0)
  P2 = XY(300, 300, -20, 0) /L
  Local 1, XY(0, 0, 0, 45)

  Go P1
  Print Here
  BMove XY(0, 50, 0, 0)
  Print Here

  Go P2
  Print Here
  BMove XY(0, 50, 0, 0)
  Print Here

  BMove XY(0, 50, 0, 0) /1
  Print Here

Fend

[Output]

 X:  300.000 Y:  300.000 Z:  -20.000 U:    0.000 V:    0.000 W:    0.000 /R /0
 X:  300.000 Y:  350.000 Z:  -20.000 U:    0.000 V:    0.000 W:    0.000 /R /0
 X:  300.000 Y:  300.000 Z:  -20.000 U:    0.000 V:    0.000 W:    0.000 /L /0
 X:  300.000 Y:  350.000 Z:  -20.000 U:    0.000 V:    0.000 W:    0.000 /L /0
 X:  264.645 Y:  385.355 Z:  -20.000 U:    0.000 V:    0.000 W:    0.000 /L /0

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