For a processing to move the robot to the robot command position at measurement, follow the procedures below. 39 6.8. Moving Robot to Robot Command Position at Measurement By the procedures in Chapter 6.6, check that the measurement results are stored in variables “R091” to “R096”. 1 Set the variables as arguments for the robot motion command (MOVJ) and execute it. ';;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; ' (6) Move the robot to the ' measured position. ' You have to edit this section ' for your application. ' e.g. Adding an end effector ' control, depart path motion, ' etc.
';;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; SET D099 EXPRESS ( R093 - R089 ) * 1000 Subtract by the added approach distance SETE P099 (3) D099 '!!!!!!!!!!! CAUTION !!!!!!!!!!! '!The following function drives '!a robot motion immediately. '!Confirm the settings '!before execution. '!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!! MOVJ P099 VJ=10.00 Robot motion Command 2 WARNING These operations drive the robot. Operate the robot in the state whereby pressing the [Emergency stop] button can stop its motion anytime.