ID : 193

Draw

Function

To move from the current position to a relative position.

Syntax

Draw motion interpolation,travel distance[, motion option]

Guaranteed entry

Motion interpolation: Designate a motion interpolation method: "P"/"PTP" for PTP interpolation motion, or "L" for CP interpolation motion.
Travel distance: Designate the relative travel distance from the current position by vector type data. A target position option can be specified.
Motion option: A motion option can be specified.

Description

The system performs translation by the designated travel distance from the current position. The system translates without changing its posture.

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

Calculation of target position

A target position can be obtained as follows:

TargetPos = Dev(DestPos, P(PosX(aaa), PosY(aaa), PosZ(aaa))

'Example of activating the motion after checking that the target position is within the motion space
Dim aaa As Vector 'travel distance vector
aaa = V[10]
If OutRange(Dev(DestPos, P(PosX(aaa), PosY(aaa), PosZ(aaa))) = 0 Then
	Draw P, aaa
End If

Related Terms

Dev

Attention

Example

'!TITLE  "<Relative Motion by Work Task Coordinate Designation>"
' Motion by the value specified by the work task coordinates
Sub Sample_Draw

  Dim aaa As Vector
  Dim bbb As Vector

  TakeArm Keep = 1

  aaa = V( 30, 0, 30 )
  bbb = V( 10, 20, 0 )

  ' Move to the coordinates away from the current position (X axis: 50 mm, Y axis: 10 mm and 
	Z axis: 50 mm)
  Draw L, V( 50, 10, 50 )

  ' Move to the coordinates away from the current position (X axis: 30 mm and Z axis: 30 mm)
  Draw L, aaa, Speed = 80

  ' Move to the coordinates away from the current position (X axis: 10 mm and Y axis: 20 mm)
  Draw L, bbb, S = 90

End Sub

ID : 193

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