DEPART
(Statement)
Executes the relative motion in the tool coordinate system.
DEPART <Interpolation method>,[<Pass start displacement> ]<Depart length>[,<Motion option>][,NEXT]
6-axis
The robot moves by <Depart length> distance from the current position in the -Z direction of the tool coordinate system.
4-axis
The robot moves by <Depart length> distance from the current position in the -Z direction of the tool coordinate system.
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 value of <Pass start displacement> is expressed using the radius of the 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. This value aims to change the pass start timing, and if the end of the arm enters the globe, the robot does not always 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.
The SPEED, ACCEL, and DECEL options are available for <Motion option>.
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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 will not be 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 the 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 movement ends. Therefore, care must be exercised since it requires a long distance to stop.
And also, the NEXT option is no valid in the teach check mode.
The DEPART statement can be rewritten using the MOVE statement.
DEPART <Interpolation method>,[<Pass start displacement amount> ]<Depart length>[,<Motion option>][,NEXT]
The following shows the statement if the above DEPART statement is rewritten using the MOVE statement.
6-axis
MOVE<Interpolation method>,[<Pass start displacement amount> ]<Current position>+(0, 0, -<Depart length>)H[,<Motion option>][,NEXT]
Example 1: DEPART P, 70
'The same as MOVE P, P0+(0, 0, -70)H ;P0 is the current position.
Example 2: DEPART P, @P 70
'The same as MOVE P, @P P0+(0, 0, -70)H.;P0 is the current position.
4-axis
MOVE<Interpolation method>,[<Pass start displacement amount> ]<Current position>+(0, 0, <Depart length>) [,<Motion option>][,NEXT]
Example 1: DEPART P, 70
'The same as MOVE P, P0+(0, 0, 70) ;P0 is the current position.
Example 2: DEPART P, @P 70
'The same as MOVE P, @P P0+(0, 0, 70).;P0 is the current position.
The figure of the DEPART motion position is that of motion start. As a result there is a possibility that "error 667* software motion limit over, beyond motion space 2" may occur since the DEPART operation position will be beyond the operation space. In this case, replace the instruction with the MOVE instruction as described in REMARKS and change the figure using LETF (refer to "10.3 Figure").
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DEFSNG lf1, lf2
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6-axis
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DEPART P, 70
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'The robot moves (PTP control) to a position 70 mm
'away from the current position in the -Zm direction.
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DEPART L, lf1, SPEED = 100
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'The robot moves (CP control, S = 100) to a position lf1
'distance away from the current position in the -Zm
'direction.
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DEPART P, lf2, S = 50
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'The robot moves (PTP control, S = 50) to a position lf2
'distance away from the current position in the -Zm
'direction.
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DEPART L, 80
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'The robot moves (CP control) to a position 80 mm away
'from the current position in the -Zm direction.
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4-axis
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DEPART P, 70
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'The robot moves (PTP control) to a position 70 mm
'away from the current position in the Zb direction.
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DEPART L, lf1, SPEED = 100
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'The robot moves (CP control, S = 100) to a position lf1
'distance away from the current position in the Zb
'direction.
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DEPART P, lf2, S = 50
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'The robot moves (PTP control, S = 50) to a position lf2
'distance away from the current position in the Zb
'direction.
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DEPART L, 80
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'The robot moves (CP control) to a position 80 mm away
'from the current position in the Zb direction.
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