MOVEC program instruction MOVEC program instruction Syntax MOVEC (angle, turn) location1, location2 MOVEC(angle , turn ) center Function Initiate a circular/arc-path robot motion using the positions and orientations described by the given locations. Usage Considerations This instruction can be executed by any program task as long as the task has attached a robot. The instruction applies to the robot selected by the task. If the eV+ system is not configured to control a robot, executing this instruction causes an error. Parameters angle Real-valued expression that specifies the angle of the arc in degrees. This parameter is optional if location2 is specified.
angle can be a positive or negative number but must be within [-360, +360]. turn Optional boolean expression that specifies whether the tool should rotate with the arc. If turn is omitted or zero, then the tool orientation will stay constant with a MOVEC(angle) center syntax and end at the orientation of location2 for a MOVEC location1, location2 syntax. If turn is non-zero, the tool orientation will be rotated by the angle of the arc around the axis of the circle and maintain a constant orientation relative to the trajectory. This is useful for dispensing applications.
center Transformation, precision point, location function, or compound transformation that specifies the center of the circle. location1 Transformation, precision point, location function, or compound transformation that specifies an intermediate location on the circle/arc through which the robot is to move. location2 Optional transformation, precision point, location function, or compound transformation that specifies the end-point of the circle/arc to which the robot is to move. If this parameter is not supplied, then angle must be specified. eV+Language Reference Guide, v2.x, 18319-000 Rev A Page 346