35 2 The depth of the container, the height of the workpiece position and the length of the hand are taken into account to determine the approach distance to the workpiece. Approach distance 3 Set the referenced robot approach distance to the variable and add the robot approach distance to the measurement results acquired at step 2 in Chapter 6.6. ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; ; (5)Move the robot to the approach position ; You have to configure the following robot approach distance for your application. ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; std _appro _dist = 30 Set the robot approach distance to the variable.
res appro pos x = res cmd pos x _ _ _ _ _ _ res appro pos x = res cmd pos x Add the robot approach _ _ _ _ _ _ res _appro _pos _z = res _cmd _pos _z+std _appro _dist distance to the measurement res appro pos x = res cmd pos x _ _ _ _ _ _ results. res appro pos x = res cmd pos x _ _ _ _ _ _ res appro pos x = res cmd pos x _ _ _ _ _ _ 4 Set the variable as arguments for the robot motion sample function (fhsample _move) and execute it. ;!!!!!!!!! CAUTION !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!! ; The following function drives a robot motion immediately. ; Confirm the settings before execution. ;!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
CALL fhsample move(res appro pos x, res appro pos y, res appro pos z, _ _ _ _ _ _ _ _ _ _ res appro pos w, res appro pos p, res appro pos r) _ _ _ _ _ _ _ _ _ Robot motion sample function ; Error check IF err no success THEN _ TYPE "ERROR: fhsample main():The approach position is out of range :", err no _ _ GOTO 10 END TYPE "Move to the approach position Done." WARNING These operations drive the robot. Operate the robot in the state whereby pressing the [Emergency stop] button can stop its motion anytime.