DEPART and DEPARTS program instruction DEPART and DEPARTS program instruction Syntax DEPART distance DEPARTS distance Function Start a robot motion away from the current location. Usage Considerations DEPART causes a joint-interpolated motion. DEPARTS causes a straight-line motion, during which no changes in configuration are permitted. These instructions can be executed by any program task as long as the task has attached a robot. The instructions apply to the robot selected by the task. If the eV+ system is not configured to control a robot, executing these instructions causes an error.
Parameter distance Real-valued expression that specifies the distance (in millimeters) along the robot tool Z axis between the current robot location and the desired destination. A positive distance moves the tool back (toward negative tool Z) from the current location; a negative distance moves the tool forward (toward positive tool Z). Details These instructions initiate a robot motion to a new location, which is offset from the current location by the distance given, measured along the current tool Z axis. Examples DEPART 80 Moves the robot tool 80 millimeters back from its current location using a joint-interpolated motion.
DEPARTS 2*offset eV+Language Reference Guide, v2.x, 18319-000 Rev A Page 165