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101

Chapter 12 Robot Control Statements

12-37

FIGAPRL (Function)

Function

Calculates figures at an approach position and a standard position available to

move in CP motion.

Format

FIGAPRL (<Reference position>, <Approach length>)

Explanation

For <Reference position>, you can use only a position type.

6-axis Calculate the figure of <Reference position> which can perform CP motion

from the position (approach position) away from <Approach length> to

<Reference position> in the -Z direction of the hand coordinate system.

The system automatically searches a figure available for the CP motion from

the approach position to <Reference position> in the following procedure order

until the movement becomes available.

(1)The figure of <Reference position> (If the figure of <Reference position>

isindefinite, the current figure is applied.)

(2) Exchange the wrist figure (flip-non flip).

(3) Exchange an elbow figure (above-below) with a non flip wrist figure.

(4) Set the wrist figure to flip.

(5) Exchange the arm figure (left-right) with the elbow figure above and with the

wrist figure non flip.

(6) Set the wrist figure to flip.

(7) Set the elbow figure to below and the wrist to non flip.

(8) Set the wrist figure to flip.

If the system cannot move even after the 8th search, an error of level 6070 (J*

software motion limit over) may occur. In this case, change the current position

or approach length.

4-axis Calculate the figure of <Reference position> which can perform CP motion

from the position (approach position) away from <Approach length> to

<Reference position> in the +Z direction of the base coordinate system.

The system automatically searches a figure available for the CP motion from

the approach position to <Reference position> in the following procedure order

until the movement becomes available.

(1) The figure of <Reference position> (If the figure of <Reference position> is

indefinite, the current figure is applied.)

1 2 ... 308 309 310 311 312 313 314 315 316 317 318 ... 691 692

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