For a processing to move the robot to the robot command position at measurement, follow the procedures below. 36 6.8. Moving Robot to Robot Command Position at Measurement 1 By the procedures at step 2 in Chapter 6.6, check that the measurement results are stored in variables. 2 Set the variables as arguments for the robot motion sample function (fhsample move) and execute it. _ ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; ; (6)Move the robot to the measuring position. ; You have to edit this section for your application. ; e.g: Adding an end effector control, depart path motion, etc. ;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; ;!!!!!!!!!
CAUTION !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!! ; The following function drives a robot motion immediately. ; Confirm the settings before execution. ;!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!! CALL fhsample move(res cmd pos x, res cmd pos y, res cmd pos z, res cmd pos w, _ _ _ _ _ _ _ _ _ _ _ _ _ res cmd pos p, res cmd pos r) _ _ _ _ _ _ Robot motion sample function ; Error check IF err no success THEN _ TYPE "ERROR: fhsample main(): The measuring robot position is out of range :", err no _ _ GOTO 10 END TYPE "Move to the measuring position Done." WARNING These operations drive the robot.
Operate the robot in the state whereby pressing the [Emergency stop] button can stop its motion anytime.