7.3.7. FHSMPLMOVE Function Move the robot Syntax FHSMPLMOVE([Argument1]) Parameter Remarks Moves the robot to the position specified by the parameter. Returns an error if the target robot position is out of the movement range. Return Value Precautions When using this function, set the values of “UserCoordNo” and “ToolCoordNo” to 0.
Example In the following example, Move the robot to the (X,Y,Z,W,P,R) = (300,0,200,180,0,0) UserCoordNo = 0 ToolCoordNo = 0 PR[100,1] = 300 PR[100,2] = 0 PR[100,3] = 200 PR[100,4] = 180 PR[100,5] = 0 PR[100,6] = 0 CALL FHSMPLMOVE(100) IF R[200] 0,JMP LBL[999] !EXIT Program ; LBL[999] 47 Argument Input/Output Data type Description Argument1 Input INTEGER The position register number of the robot coordinates of the destination Err. No. Error Message Description 0 - normal termination -1503 ERROR:FHSMPLMOVE:Positon out of range:-1503 out of range error -1802 ERROR: FHSMPLMOVE:TP Argument:-1802 Register value acquisition error