Yamaha DRCX Instrukcja Użytkownika Pobierz pdf (Strona 26)

YAMAHA SR1 Provider User's Guide - 26 -

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Example

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Dim aaa As Object

Set aaa = caoCtrl.AddRobot(“AAA”)

aaa.Execute(“DRVI”, Array(2,150.55,100)) Move Y axis as much as point 123 data amount from

current position at 100% speed

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3.2.14. CaoRobot::Execute("ACHA") command

Command for DRCX only.

Define the arch motion with a position specified (absolute position in reference to origin).

Syntax ACHA ( <vntACHParam:VT_VARIANT | VT_ARRAY> )

< vntACHParam >

：

[in] Arch information (VT_VARIANT | VT_ARRAY)

Array data:

< vntAxis > Axis number 1: X axis, 2: Y axis

< vntPosition > Specifiable position: -9999 to 9999 (mm)

Return value

：

None

Example

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Dim aaa As Object

Set aaa = caoCtrl.AddRobot(“AAA”)

aaa.Execute(“ACHA”, Array(2,10)) ‘ Arch motion definition to return to Y=10.00 point

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3.2.15. CaoRobot::Execute("ACHI") command

Command for DRCX only.

Define the arch motion with a position specified (relative position in reference to the current position).

Syntax ACHI (<vntACHParam:VT_VARIANT | VT_ARRAY>)

< vntACHParam >

：

[in] Arch information (VT_VARIANT | VT_ARRAY)

Array data:

< vntAxis > Axis number 1: X axis, 2: Y axis

< vntPosition > Specifiable distance: -9999 to 9999 (mm)

Return value

：

None

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Yamaha DRCX Instrukcja Użytkownika Strona 26