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ID : 3588

Depart

Function

To move from the current position in direction toward the tool's -Z coordinate.

Syntax

Depart motion interpolation, depart length[, motion option]

Guaranteed Entry

Motion interpolation
Designate a motion interpolation method: "P"/"PTP" for PTP interpolation motion, or "L" for CP interpolation motion.
Depart length
Designate an depart length by single precision real number type data. Target position option can be added to the depart length.
Motion option
A motion option can be specified.

Description

The system moves from the current position in direction toward the tool's -Z coordinate.

To execute this statement, the task must acquire robot axis control.

Calculation of Target Position

A target position can be obtained as follows:

TargetPos = DevH(DestPos, P(0, 0, -Length))
'Example of activating the motion after checking that the target position is within the motion space
If OutRange(DevH(DestPos, P(0, 0, -Length))) = 0 Then
	Depart P, Length
End If

Related Terms

Approach

Attention

-

Example

'!TITLE "Relative Motion by Tool Coordinate Designation"
' Move in direction toward -Z by the value specified by the tool coordinates
Sub Sample_Depart

  Dim aaa As Single
  Dim bbb As Single

  TakeArm Keep = 1

  ' Move to a position 70 mm away from the current position
  Depart P, 70

  aaa = 20
  bbb = 40

  ' Move to a position aaa (20 mm) away from the current position
  Depart L, aaa, Speed = 90

  ' Move to a position bbb (40 mm) away from the current position
  Depart L, bbb, S = 80

End Sub

ID : 3588

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