For a processing to move the robot to the robot approach position at measurement, follow the procedures below. 37 6.7. Moving Robot to Robot Approach Position at Measurement By the procedures in Chapter 6.6, check that the measurement results are stored in the variables “R091” to “R096”. 1 The depth of the container, the height of the workpiece position and the length of the hand are taken into account to determine the approach distance to the workpiece. Approach distance 2 Set the referenced robot approach distance to the variable and add the robot approach distance to the measurement results acquired in Chapter 6.6.
';;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; ' (5) Move the robot to the ' approach position. ' You have to configure ' the following robot approach ' distance for your application. ';;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;; SET R089 50 Set the robot approach distance as a variable ADD R093 R089 Add the robot approach distance to the measurement 'set position SET D099 EXPRESS R091 * 1000 SETE P099 (1) D099 SET D099 EXPRESS R092 * 1000 SETE P099 (2) D099 SET D099 EXPRESS R093 * 1000 SETE P099 (3) D099 SET D099 EXPRESS R094 * 10000 SETE P099 (4) D099 SET D099 EXPRESS R095 * 10000 SETE P099 (5) D099 SET D099 EXPRESS R096 * 10000 SETE P099 (6) D099 SETE P099 TL#(0) 3