ROTATE
(Statement)
Executes a rotation movement around the designated axis.
ROTATE <Rotation plane>,[@<Pass start displacement>],<Relative rotation angle> [,[<Rotation center point>] [,<Rotation option>] [,<Movement option>][,NEXT]]
Rotation plane format
6-axis
{{XY|YZ|ZX}|{XYH|YZH|ZXH}|(Vector type, vector type, vector type)}
4-axis
{{XY}|{XYH}}
The hand rotates around the axis vertically created in <Rotation plane> by the angle designated <Rotation angle>. There are two types of rotation axes in the rotation plane. The axis with the smaller angle made in the approach vector is selected.
The rotation plane can be selected from the following seven planes.
Rotation plane format
6-axis
If the rotation plane is parallel to the XY, YZ and ZX planes of the work coordinates, designate XY|YZ|ZX.
If the rotation plane is parallel to the XY, YZ and ZX planes of the tool coordinates, designate XYH|YZH|ZXH.
A plane seen from the base coordinates is created from the three points of the XYZ coordinates (Vector type, Vector type, Vector type).
4-axis
If the rotation plane is parallel to the XY planes of the work coordinates, designate XY.
If the rotation plane is parallel to the XY planes of the tool coordinates, designate XYH.
A plane seen from the base coordinates is created from the three points of the XYZ coordinates (Vector type, Vector type, Vector type).
The value of <Pass start displacement> is expressed using the radius of the globe with the designated coordinates (pause) centered. If the motion instruction value is entered, the robot proceeds to the next control. Designate the value in millimeters. This value aims to change the pass start timing, and if the end of the arm enters the globe, the robot does not always proceed to the next control.
If the value is ignored, it is processed as the default value @0.
If the value is @0, the robot moves in the end movement.
If @P, it moves in the pass movement.
If @E, the robot checks the arrival at the target position with the value of the encoder and then proceeds to the next movement.
The unit of measurement of <Relative rotation angle> is degrees (DEG) and the sign is plus (+) for the right-handed screw.
6-axis
For <Rotation center point>, designate a work coordinate point if the rotation plane is of {XY|YZ|ZX} and(Vector type, Vector type, Vector type). And if the rotation plane is of {XYH|YXH|ZXH}, designate a tool coordinate point.
If <Rotation center point> is ignored, the rotation center will be (0,0,0) when the rotation plane is of {XY|YZ|ZX}. And when the rotation plane is of (Vector type, Vector type, Vector type), the first vector becomes the rotation center. However, if a rotation plane of {XYH|YZH|ZXH} is designated, the robot cannot rotate around the rotation center of (0, 0, 0). Be sure to designate a rotation center point.
4-axis
For <Rotation center point>, designate a work coordinate point if the rotation plane is of {XY} and(Vector type, Vector type, Vector type). And if the rotation plane is of {XYH}, designate a tool coordinate point.
If <Rotation center point> is ignored, the rotation center will be (0,0,0) when the rotation plane is of {XY}. And when the rotation plane is of (Vector type, Vector type, Vector type), the first vector becomes the rotation center. However, if a rotation plane of {XYH } is designated, the robot cannot rotate around the rotation center of (0, 0, 0). Be sure to designate a rotation center point.
Designate <Rotation option> with pose=1 or pose=2.
With pose=1, the robot moves to the rotation center using the posture constant. The range of the rotation angle is ±540°. With pose=2, the robot keeps the current posture. If no option is designated, the robot moves in the same way as in the case of pose=2.
For <Movement option> there are SPEED, ACCEL and DECEL options.
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Motion option
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Meaning
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SPEED (or S)
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Designates the movement speed. The meaning is the same as the SPEED statement.
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ACCEL
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Designates acceleration. The meaning is the same as the ACCEL statement. However, deceleration cannot be designated. Use the DECEL statement to designate deceleration.
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DECEL
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Designates deceleration. The meaning is the same as the DECEL statement.
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If <NEXT option> is added, the robot proceeds to the next no-movement instruction without waiting for movement to finish. However, the following instructions will not be executed until robot movement ends (pass start).
Robot motion instructions (CHANGETOOL, CHANGEWORK, SPEED, JSPEED, ACCEL, JACCEL, DECEL, JDECEL), optimal carrying mass setting library (aspACLD, aspChange), arm movement library (mvSetPulseWidth, etc.)
If this command is used with the movement option, the NEXT option is no longer valid. When <NEXT option> is added and if step stop is executed in the waiting status for the next movement instruction, the robot will stop after movement ends. Care should therefore be exercised since it requires a long distance to stop.
And also, the NEXT option is no valid in the teach check mode.
When you execute instantaneous stop during path movement and restart the system, error 60de "Robot may execute rotation movement different from the designated." may occur.
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ROTATE XY,45,V1
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'The robot rotates by 45 degrees at a constant posture
'around the axis passing through point V1 and vertical
'to the XY plane.
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6-axis only
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ROTATE(V2, V3, V4),F1
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'The robot rotates around the axis vertical to the plane
'created from (V2, V3, V4) passing point V2 by the
'value of F1.
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ROTATE XYH,43,V1,S=100
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'The robot rotates around an approach vector which passes
'the tool coordinates V1 by 43 degrees at a moving speed
'of 100 %.
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