Motion Control Instructions robot arm to approach a location from directly above the board so nearby parts are not disturbed. Assuming you were using a four-axis Omron Adept robot, the instructions: APPRO place, 50 MOVE place DEPART 50 causes joint-interpolated motion to a point 50 mm above place, movement down to place, and movement straight up to 50 mm above place. If the instructions APPROS, DEPARTS, and MOVES had been used, the motions would have been straight line instead of joint interpolated. NOTE: Approaches and departs are based on the tool coordinate system, not the world coordinate system.
Thus, if the location specifies a pitch of 135 degrees, the robot will approach at a 45 degree angle relative to the world coordinate system. For a description of the tool coordinate system, see Yaw on page 104. Moving an Individual Joint You can move an individual joint of a robot using the instruction DRIVE. The instructions: DRIVE 2,50.0, 100 DRIVE 3,25, 100 moves joint 2 through 50 degrees of motion and then move joint 3 a distance of 25 mm at SPEED 100%. End-Effector Operation Instructions The instructions described in this section depend on the use of two digital signals. They are used to open, close, or relax a gripper.
The utility program SPEC specifies which signals control the end effector. See the Instructions for Adept Utility Programs . The instruction OPEN opens the gripper during the ensuing motion instruction. The instruction OPENI opens the gripper before any additional motion instructions are executed. CLOSE and CLOSEI are the complementary instructions. When an OPEN(I) or CLOSE(I) instruction is issued, one solenoid is activated and the other is released. To completely relax both solenoids, use the instruction RELAX or RELAXI. Use the system parameter HAND.TIME to set the duration of the motion delay that occurs during an OPENI, CLOSEI, or RELAXI instruction.
Use the function HAND to return the current state of the gripper. Continuous-Path Trajectories When a single motion instruction is processed, such as the instruction: eV+Language User's Guide, v2.x, 18318-000 Rev A Page 117