DEST transformation function If a motion is not begun because eV+ realizes the destination location cannot be reached (for example, it is too far from the robot), then DEST is not set to the goal location. Example The DEST function is useful, for example, for continuing a motion that has been interrupted by a reaction initiated by a REACTI instruction. The subroutine automatically invoked can contain steps such as the following to process the interruption and resume the original motion. SET save = HERE ;Record where the robot is SET old.dest = DEST ;Record where the robot was going old.speed = SPEED(3) ;Record the current motion speed DEPART 50.0 ;Back away a safe distance . . .
APPRO save, 50.0 ;Return to the original motion path MOVES save ;...back to where we left SPEED old.speed ;Restore the original motion speed MOVES old.dest ;Continue toward original destination Related Keywords HERE transformation function #PDEST precision-point function SELECT program instruction SELECT real-valued function eV+Language Reference Guide, v2.x, 18319-000 Rev A Page 168