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MTS (MoveToolStraight)
I Function
I
Moveslhe tip of handto a positionaway from the specified positionby the distance
as specilied in lhe tool direction. (Linearinterpolation)
( Input FormatI
MTS <positionnumber), [dravel distance>] [, t(O/CrX
[terml
<Positionnumben
(Traveldistance)
Specifyihe destinationpositionnumber in integer value.
1 S positionnumber S 999
Specifythe distance in tool directionfrom the speciiied
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<O/Cr
Specifyopen or closestateof ihe hand. (ll omitted,the hand
state of the positionis valid.)
O: Handopen
C : Handclose
I ExplanationI
(1) The leastincrementof the distanceis 0.01mm.
(2) When the distanceis positive,the tip of handadvancesin the tool direction.When
the distanceis negative,the tip ot hand retractsin the tool direction.
(3) lf the open or close state of the hand has been specified, lhe robot moves after
executingthe hand control.
(4) Alarmoccurswhen the MT commandis executed if the specified positionhas not
been predefinedor if the destinationexceeds the robot'soperationalspace.
( Sample programI (Movemastercommand)
10 MTS 1,-100,0 ; Movesto lhe poini away from lhe position1 by 100 mm with
hand opened. Moves straight.
20 MS 1
; Moves to position1.
30 MTS 1,-100,C ;Moves to the pointaway from the position1 by 100 mm with
hand closed. Moves straioht.
ta
--- --- - -- -- -- -Utr--X
currentposition
MTS 1,-100,0
'.*{
M T S1 , - 1 0 0 , C
Position1
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