Confirming Reach Position

There are three methods of determining the first motion finish when the robot arm changes from one motion to another. They are called pass motion, end motion and encoder value check motion. The following explains each motion.

Pass Motion

A pass motion is a motion to pass the vicinity of a taught motion position or relative position.

If the pass start displacement distance is designated to "@P" or "@[Numeric value (Numeric value > 0)]" for all motion commands, a pass motion can be executed.

End Motion

Among motions to reach a taught motion position or relative position, an end motion is a motion to determine if the robot has reached the destination position when the command value of the servo system meets the destination position.

If the pass start displacement distance is designated to "@[0]" for all motion commands, an end motion can be executed.

Encoder Value Check Motion

Among motions to reach a taught motion position or relative position, an encoder value check motion is a motion to determine that the robot has reached the destination position when the current position (calculated from the encoder value) entered within a designated pulse from the destination position.

There are two types of encoder value check motions.

Check Motion Based on Each Axis' Position

In this motion, robot's arrival is determined based on each axis' positions.
The pass start displacement is designated as "@E" for all the motion commands.
The designated pulse can be changed in the program for each axis.

Check Motion Based on the Tool End and Robot Arm Figure.

In this motion, robot's arrival is determined based on the tool end position and robot arm figure.
The pass start displacement is designated as "@C" for all the motion commands.
The designated pulse (X, Y and Z coordinates, RY,RY and RX rotation angles) can be changed in the program.