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

ndDepa (< coordinate> <stopping accuracy>)

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

Performs PTP movement from the current position by specifying only the Z coordinate. The operation varies with the 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 DRET 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.

ndApra