34 143: R[195]=50 ; Set the robot approach distance to the variable. 144: PR[100,1]=R[181] ; 145: PR[100,2]=R[182] ; 146: PR[100,3]=R[183]+R[195] ; Add the robot approach distance to 147: PR[100,4]=R[184] ; the measurement results. 148: PR[100,5]=R[185] ; 149: PR[100,6]=R[186] ; Set the variable as arguments for the robot motion sample function (FHSMPLMOVE) and execute it. 151: !;!!!!!!!!! CAUTION !!!!!!!!!!! ; 152: !The following function drives ; 153: !a robot motion immediately. ; 154: !Confirm the settings ; 155: !before execution. ; 156: !;!!!!!!!!!!!!!!!!!!!!!!!!!!!!! ; 157: ; 158: CALL FHSMPLMOVE( 100 ) ; Robot motion sample function 159:
IF R[200] 0,JMP LBL[998] ; 4 WARNING These operations drive the robot. Operate the robot in the state whereby pressing the [Emergency stop] button can stop its motion anytime.