Arm Configuration Approach Segment When approach and depart heights are specified, the robot moves in three distinct motions. In the first motion (Approach segment), the robot moves to a location directly above the specified location. For the second motion, the robot moves to the actual location and the gripper is activated. In the third motion (Depart segment), the robot moves to a point directly above the location. Approach and depart heights are used to make sure that the robot approaches and departs from a location without running into any other parts in the assembly being built (or any other obstructions in the robot envelope).
Approaches and departs are always parallel to the Z-axis of the tool coordinate system. Notice that all the motion parameters that apply to a motion to a location also can be applied to approach and depart motions. This allows you to move at optimum speed to the approach height above a location, then move more slowly when actually acquiring or placing the part, and finally depart quickly. Arm Configuration Another motion characteristic that you can control is the configuration of the robot arm when moving to a location. However, configuration options apply only to specific types of robots.
For example, the lefty/righty option applies to SCARA-type robots (such as the Adept Cobra robots), but the above/below option does not apply to those robots. The arm configuration is specified in the Move Configuration parameters group of the Configuration Items. For details, see Configuration Items on page 856. ACE User's Guide, 3.6.x 18316-000 Rev A Page 62