FIGAPRL
(Function)
Calculates figures at an approach position and a standard position available to move in CP motion.
FIGAPRL (<Reference position>, <Approach length>)
For <Reference position>, you can use only a position type.
6-axis
Calculate the figure of <Reference position> which can perform CP motion from the position (approach position) away from <Approach length> to <Reference position> in the -Z direction of the hand coordinate system.
The system automatically searches a figure available for the CP motion from the approach position to <Reference position> in the following procedure order until the movement becomes available.
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The figure of <Reference position> (If the figure of <Reference position> is indefinite, the current figure is applied.)
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Exchange the wrist figure (flip-non flip).
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Exchange an elbow figure (above-below) with a non flip wrist figure.
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Set the wrist figure to flip.
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Exchange the arm figure (left-right) with the elbow figure above and with the wrist figure non flip.
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Set the wrist figure to flip.
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Set the elbow figure to below and the wrist to non flip.
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Set the wrist figure to flip.
If the system cannot move even after the 8th search, an error of level 6070 (J* software motion limit over) may occur. In this case, change the current position or approach length.
4-axis
Calculate the figure of <Reference position> which can perform CP motion from the position (approach position) away from <Approach length> to <Reference position> in the +Z direction of the base coordinate system.
The system automatically searches a figure available for the CP motion from the approach position to <Reference position> in the following procedure order until the movement becomes available.
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The figure of <Reference position> (If the figure of <Reference position> is indefinite, the current figure is applied.)
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Use FIGAPRL if the movement action after the approach is the CP motion. If it is PTP motion, use FIGAPRP.
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<Reference position> and the approach length used in FIGAPRL should be consistent with <Reference position> and the approach length designated in APPROACH motion. If <Reference position> or approach length is different, an error of level 6070 may occur in CP motion after approach.
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Even if you obtained a figure with FIGAPRL, the robot possibly stops in CP motion after approach with the occurrence of an error of level 6080 (command speed limit over). 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 an error still occurs, adjust the approach length.
6-/4-axis
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I1=FIGAPRL(P1, 100.0)
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LETF P1, I1
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APPROACH P, P1, 100.0
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MOVE L, P1
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6-axis
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I1=FIGAPRL(P1 + (100.200, 0, 0, 10, 0), 100)
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LETF P1, I1
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APPROACH P, P1, 100.0
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MOVE L, P1
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4-axis
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I1=FIGAPRL(P1 + (100.200, 0, 0), 100)
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LETF P1, I1
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APPROACH P, P1, 100.0
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MOVE L, P1
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