Performs absolute operation with the tool coordinate system specified (exclusively for four-axis robots).

ndApra (<reference position> <Z coordinate> <stopping accuracy>)

Provides a function similar to that of the APRA instruction in the conventional language.

Performs PTP movement by specifying the Z coordinate of the reference position only. The operation varies with the specified stopping accuracy as follows:

0: End operation

1: Path operation

2: Checking arrival at the target position by means of the encoder value

To use a function similar to that of the APRT instruction in the conventional language, calculate the position type value by translating deviation calculation (see 7.9.7 Position Calculation) by referring to this library and use the MOVE instruction.

ndDepa