Motion Examples of Pass, End and Encoder Value Check

Here are four example programs to move the robot from the current position P1 to point P3 through point P2. They are program examples of pass motion, end motion and encoder value check motion, respectively.

Pass Motion Program Example

Sub PASS_MOVE
	TakeArm Keep = 1

	Move L, @P P[2]
	Move L, @0 P[3]
End Sub

End Motion Program Example

Sub END_MOVE
	TakeArm Keep = 1

	Move L, @0 P[2]
	Move L, @0 P[3]
End Sub

Encoder Value Check Motion Program Example

Check Motion Based on Each Axis' Position

Sub ENCODER_MOVE
	TakeArm Keep = 1

	Move L, @E P[2]
	Move L, @0 P[3]
End Sub

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

Sub ENCODER_MOVE
	TakeArm Keep = 1

	Move L, @C P[2]
	Move L, @0 P[3]
End Sub

Motion Examples of Pass, end and Encoder Value Check

Pass Motion	End Motion	Encoder Value Check Motion