Denso RC5 Dokumentacja Pobierz pdf (Strona 314)

100

101

12-38

Related Terms

FIGAPRP, APPROACH

Example

6-/4-axis I1=FIGAPRL(P1, 100.0)

LETF P1, I1

APPROACH P, P1, 100.0

MOVE L, P1

6-axis I1=FIGAPRL(P1 + (100.200, 0, 0, 10, 0), 100)

LETF P1, I1

APPROACH P, P1, 100.0

MOVE L, P1

4-axis I1=FIGAPRL(P1 + (100.200, 0, 0), 100)

LETF P1, I1

APPROACH P, P1, 100.0

MOVE L, P1

Notes

(1) Use FIGAPRL if the movement action after the approach is the CP

motion. If it is PTP motion, use FIGAPRP.

(2) <Reference position> and the approach length used in FIGAPRL should be

consistent with <Reference position> and the approach length designated

in APPROACH motion. If <Reference position> or approach length is

different, an error of level 6070 may occur in CP motion after approach.

(3) Even if you obtained a figure with FIGAPRL, the robot possibly stops in

CP motion after approach with the occurrence of an error of level 6080

(command speed limit over). In this case, slow down the speed or set 2 or

3 in optimal load capacity setting mode (refer to p.4-8, "4.6 Control Set of

Motion Optimization”). If an error still occurs, adjust the approach length.

1 2 ... 309 310 311 312 313 314 315 316 317 318 319 ... 691 692

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