33 Set the referenced imaging position to the variables. ';;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; ' (2) Move the robot to the ' imaging position. ' You have to configure ' the following robot position ' for your application. ';;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; SET R080 399.9999 SET R081 0.0020 SET R082 199.9999 Set the robot imaging position to the variables.
SET R083 180.0000 SET R084 0.0001 SET R085 0.0000 SET D099 EXPRESS R080 * 1000 SETE P099 (1) D099 SET D099 EXPRESS R081 * 1000 SETE P099 (2) D099 SET D099 EXPRESS R082 * 1000 SETE P099 (3) D099 SET D099 EXPRESS R083 * 10000 SETE P099 (4) D099 SET D099 EXPRESS R084 * 10000 SETE P099 (5) D099 SET D099 EXPRESS R085 * 10000 SETE P099 (6) D099 SETE P099 TL#(0) 2 Set the variables as arguments for the robot motion command (MOVJ) and execute it. '!!!!!!!!!!! CAUTION !!!!!!!!!!! '!The following function drives '!a robot motion immediately. '!Confirm the settings '!before execution. '!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!! MOVJ P099 VJ=10.00 Robot motion command 3 WARNING These operations drive the robot.
Operate the robot in the state whereby pressing the [Emergency stop] button can stop its motion anytime.