For a processing to move the robot to the robot command position at measurement, follow the procedures below. 35 !Error check IF err no success THEN _ GOTO exit program; _ ENDIF WARNING These operations drive the robot. Operate the robot in the state whereby pressing the [Emergency stop] button can stop its motion anytime. 6.8. Moving Robot to Robot Command Position at Measurement By the procedures at step 2 in Chapter 6.6, check that the measurement results are stored in variables. 1 Set the variables as arguments for the robot motion sample function (fhsample move) 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. !;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; !!!!!!!!!! CAUTION !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!! ! The following function drives a robot motion immediately. ! Confirm the settings before execution. !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!! 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, err no; _ _ _ _ _ _ _ Robot motion sample function !
Error check IF err no success THEN _ GOTO exit program; _ ENDIF 2 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, err no; _ _ _ _ _ _ _ WARNING These operations drive the robot. Operate the robot in the state whereby pressing the [Emergency stop] button can stop its motion anytime.