40 The approach position is the point of access to the Robot Command position. The approach distance is the offset value in the Z direction(mm) in the robot base coordinate system. 3 The [SetApproPos] node calculates the approach Set Node position by adding the approach distance in the Z+ direction from the robot command position. The [aproPos] node moves the robot to the approach position. Point Node Then, move to the robot command position [resCmdPos]. At this position, Point Node the workpiece can be grasped. The sample program ends after moving to the robot command position. 4 WARNING These operations drive the robot.
Operate the robot in the state whereby pressing the [Emergency stop] button can stop its motion anytime. In the base list, select [RobotBase] as the current base. In the tool list, select [NOTOOL] as the current tool. WARNING