DRIVE program instruction DRIVE program instruction Syntax DRIVE joint, change, speed Function Move an individual joint of the robot. Usage Considerations The DRIVE 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 the DRIVE instruction causes an error. If the AMOVE instruction has been executed to prepare for motion of an extra axis, execution of the DRIVE instruction cancels the effect of the AMOVE instruction. Parameters joint Number of the robot joint to be moved.
This can be specified by a constant, a variable, or an expression. change The change desired in the joint position. This can be specified by a constant, a variable, or an expression. The value can be positive or negative. The value is interpreted in the units used to measure the joint position. That is, a change for a rotary joint must be the number of degrees the joint is to move; a change for a linear joint must specify the number of millimeters to move. speed The temporary program speed to be used for the motion, considered as a percentage of the current monitor speed setting. Again, this can be specified by a constant, a variable, or an expression.
Details Operates the single specified robot joint, changing its position by change amount (in degrees or millimeters). The joint number, joint , can be 1, 2, ..., n, where n is the number of joints the robot has. The speed of the motion is governed by a combination of the speed given in this instruction and the monitor SPEED setting. That is, the regular program speed setting is not used. (See eV+Language Reference Guide, v2.x, 18319-000 Rev A Page 185