ROTATEH
(Statement)
Executes rotary motion by taking an approach vector as an axis.
ROTATEH [@<Pass start displacement> ]<Relative rotation angle around approach vector>[,<Motion option>][,NEXT]
This statement rotates the hand end by <Relative rotation angle around approach vector> taking the approach vector as the axis.
The unit of measurement for <Relative rotation angle around approach vector> is degrees (DEG). However, designate the rotation angle in a range from -180(DEG) to 180(DEG).
The value of <Pass start displacement> is expressed using the radius of the globe with the designated coordinate (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 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.
For <Motion 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 are not executed until the 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 in 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 taken since a long distance is required to stop.
And also, the NEXT option is no valid in the teach check mode.
The ROTATEH statement can be rewritten using the MOVE statement. If you rewrite the ROTATE statement of ROTATEH, [<Pass start displacement>]<Rotation angle>[, <Motion option>][NEXT] using the MOVE statement, it can be described as follows.
MOVE L, [<Pass start displacement>]<Current position>+(0, 0, 0, 0, 0, <Rotation angle>)H[, NEXT]
Example: The same as
ROTATEH @P, F1 'MOVE L, @P PO+(0, 0, 0, 0, 0, F1)H:PO is a current position.
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DEFSNG FF1=50
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'Sets the relative rotation angle to 50 degrees.
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TAKEARM
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'Obtains the robot control priority.
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MOVE P,P1
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'Moves to point P1 in PTP motion.
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CHANGETOOL 1
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'Makes 1 of TOOL valid.
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ROTATEH @50 FF1
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'Sets pass start displacement to 50, and the
'relative rotation angle FF1.
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CHANGETOOL 0
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'Sets TOOL to 0.
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