APPROACH
(Statement)
Execute the absolute movement designated in the tool coordinate system.
APPROACH <Interpolation method>, <Base position>,[<Path start displacement> ]<Approach length>[,<Motion option>][,NEXT]
The position type, joint type or homogeneous type can be used for <Base position>.
6-axis
The robot moves to a position away from the <Base position> by <Approach length> in the -Z direction of the tool coordinate system.
4-axis
The robot moves to a position away from the <Base position> by <Approach length> in the +Z direction of the base coordinate system.
Either P (or PTP) or L can be selected for <interpolation method>.
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Interpolation method
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Meaning
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P (or PTP)
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Moves in PTP control.
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L
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Moves in CP control.
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The <Path start displacement> value is expressed by the radius of a globe with the target position centered. If the motion instruction value is entered the robot proceeds to the next control. Designate the value in millimeters. The aim is to change the pass start timing with this value.
Also note that if the end of the arm enters the globe, the robot does not proceed to the next control.
If the value is ignored, it is processed as the default value @0.
If the value is @0, the robot moves in the end movement.
If @P, it moves in the pass movement.
If @E, the robot checks the arrival at the target position with the value of the encoder and then proceeds to the next movement.
For <Motion option>, there are SPEED, ACCEL, and DECEL options.
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Motion option
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Meaning
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SPEED (or S)
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Designates the movement speed. The meaning is the same as the SPEED statement.
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ACCEL
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Designates acceleration. The meaning is the same as the ACCEL statement. However, deceleration cannot be designated. Use the DECEL statement to designate deceleration.
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DECEL
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Designates deceleration. The meaning is the same as the DECEL statement.
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If <NEXT option> is added, the robot proceeds to the next no-movement instruction without waiting for movement to finish. However, the following instructions are not executed until robot movement ends (pass start).
Robot motion instructions (CHANGETOOL, CHANGEWORK, SPEED, JSPEED, ACCEL, JACCEL, DECEL, JDECEL), optimal carrying mass setting library (aspACLD, aspChange), arm movement library (mvSetPulseWidth, etc.)
If this command is used with a movement option, the NEXT option is no longer valid. When <NEXT option> is added and if step stop is executed in the waiting status for the next movement instruction, the robot will stop after the movement ends. Therefore care needs to be exercised since it requires a long distance to stop.
And also, the NEXT option is no valid in the teach check mode.
The APPROACH statement can be rewritten using the MOVE statement.
APPROACH <interpolation method>,[<pass start displacement>]<Base position>,<Approach length> [,<Motion option>][,NEXT]
The following shows the statement if the above APPROACH statement is rewritten using MOVE.
6-axis
MOVE <interpolation method>,[<Pass start displacement> ]<Base position>+(0, 0, -<Approach length>)H[,<Motion option>][,NEXT]
Example : APPROACH P, P3, 100
'The same as MOVE P, P3+(0, 0, -100)H.
4-axis
MOVE <interpolation method>,[<Pass start displacement> ]<Base position>+(0, 0, <Approach length>)[,<Motion option>][,NEXT]
Example : APPROACH P, P3, 100
'The same as MOVE P, P3+(0, 0, 100).
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There is a possibility that the approach position obtained from the base position may lie beyond the motion space of the robot. In such a case, an error with a level of 6070 (J * software motion limit over, beyond motion space, a singular point) may occur.
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The figure of the approach position becomes that of the base position. Therefore, there is a possibility that the approach position is beyond the motion space and "error 667* software motion limit over, beyond the motion space 2" may occur. In this case, use FIGAPRL and FIGAPRP (refer to p.12-40 "FIGAPRL" and p.12-42 "FIGAPRP") to calculate the figure of the approach position, or change the figure using LETF (refer to "10.3 LETF") by replacing it using the MOVE instruction as described in REMARKS.
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In CP motion, if the current figure (refer to the Owner's Manual "Setting-up," Section 4.2, "Figures of the Shoulder, Elbow and Wrist") and the figure of the base position are different, error 607F (Robot figure inconsistency) occurs. However, if the robot can move to change figures, the error does not occur.
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In CP motion, if the robot passes in the vicinity of a singular point (refer to the "Setting-up Guide," Subsection 4.1.3 "Boundaries of Robot Figures"), an error with a level of 6080 (designated speed limit over) may occur and the motion may stop. In this case, slow down the speed or set 2 or 3 in optimal load capacity setting mode (refer to p.4-5 4.6 "Control Sets of Motion Optimization".) If the error still occurs, evade the path near this singular point.
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In CP motion, there is a possibility that a 601C warning (change figure) may occur because the figure of the approach position and that of the base position do not meet. Change the figure of the base position to the figure when the motion ends (note that operation is not affected even if the warning occurs).
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DEFSNG lf1, lf2
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DEFPOS lp1, lp2, lp3
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6-axis
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APPROACH P, (740, 0, 480, 180, 0, 180, 5), 70
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'The robot moves (PTP control) to a point
'70 mm away from the position of robot figure 5 at
'(740, 0, 480, 180, 0, 180) in the -Zm direction.
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APPROACH L, lp1, lf1, SPEED = 100
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'The robot moves (CP control, internal
'speed = 100 %) to a position at lf1 distance from
'the position of lp1 in the -Zm direction.
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APPROACH P, lp2, @P lf2, S = 50
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'The robot moves to a position lf2 distance from
'the lp2 position in the -Zm direction (PTP control,
'internal speed = 50 %) via the pass movement.
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APPROACH L, lp3, 80
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'The robot moves (CP control) to
'a position 80 mm away from the position
'of lp3 in the -Zm direction.
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4-axis
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APPROACH P, (100, 200, 300, 45, 1), 70
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'Moves to a position 70mm far form a point (100, 200,
'300, 45,1) with posture 1 in +Zb direction (PTP
'control)
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APPROACH L, lp1, lf1, SPEED=100
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'Moves to a position lf1 far form lp1 in +Zb direction
'(CP control, internal speed=100%)
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APPROACH P, lp2, @P, lf2, S=50
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'Moves to a position lf2 far form lp2 in +Zb direction
'along a path (PTP control, internal speed=50%)
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APPROACH L, lp3, 80
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'Moves to a position 80 mm far from lp3 in +Zb
'direction (CP control)
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