Denso RC5 Specifikace stáhnout pdf (Strana 315)

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Chapter 12 Robot Control Statements

12-39

FIGAPRP (Function)

Function

Calculates an approach position where the PTP motion is available, and a

reference position figure.

Format

FIGAPRP (<Reference position>, <Approach length>)

Explanation

For <Reference position>, you can use only a position type.

6-axis Calculate the figure of <Reference position> which can perform PTP motion

from the position (approach position) away from <Approach length> to

<Reference position> in the -Z direction of the hand coordinate system.

The system automatically searches a figure available for PTP motion from the

approach position to <Reference position> in the following procedure order

until the movement becomes available.

(1)The figure of <Reference position> (If the figure of <Reference position> is

indefinite, the current figure is applied.)

(2)Exchange the wrist figure (flip-non flip) and if the 4th axis movement angle

from the approach position to <Reference position> is within ±90 degrees,

the motion is assumed to be available.

If the 4th axis movement angle exceeds ±90 degrees or the movement is not

available, an error of level 6070 (J* software motion limit over) may occur. In

this case, change the current position or approach length.

4-axis Calculate the figure of <Reference position> which can perform PTP motion

from the position (approach position) away from <Approach length> to

<Reference position> in the +Z direction of the base coordinate system.

The system automatically searches a figure available for PTP motion from the

approach position to <Reference position> in the following procedure order

until the movement becomes available.

(1) The figure of <Reference position> (If the figure of <Reference position> is

indefinite, the current figure is applied.)

Related Terms

FIGAPRL, APPROACH

Example

I1 = FIGAPRP(P1, 100.0)

LETF P1, I1

APPROACH P, P1, 100.0

MOVE P, P1

6-axis I1 = FIGAPRP(P1 + (100, 200, 0, 0, 0, 10), 100, 0)

4-axis I1 = FIGAPRP(P1 + (100, 200, 0, 0), 100, 0)

Notes

(1) Use FIGAPRP if the movement action after the approach is a PTP motion.

Use FIGAPRL if it is CP motion.

(2) <Reference position> and the approach length used in FIGAPRP 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 PTP motion after approach.

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