APPRO program instruction APPRO program instruction Syntax APPRO location, distance APPROS location, distance Function Start a robot motion toward a location defined relative to specified location. Usage Considerations APPRO causes a joint-interpolated motion. APPROS causes a straight-line motion, during which no changes in configuration are permitted. The APPRO and APPROS 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 will cause an error.
Parameters location Transformation value that defines the basis for the final location. distance Real-valued expression that specifies the distance along the robot tool Z axis between the specified location and the actual desired destination. A positive distance sets the tool back (negative tool-Z) from the specified location; a negative distance offsets the tool forward (positive tool-Z). Details These instructions initiate a robot motion to the orientation described by the given location value. The position of the destination location is offset from the given location by the distance given, measured along the tool Z axis.
Examples APPRO place,offset eV+Language Reference Guide, v2.x, 18319-000 Rev A Page 61