ID : 9894

MoveBackTraceLog

Function

To execute the origin return.

Syntax

MoveBackTraceLog

Description

By the trajectory generated by "CalcBackTraceLog", return the robot to the origin.

To execute this command, the task must acquire the robot axis control.

Related Terms

CalcBackTraceLog

Attention

This is not necessarily guaranteed the safe trajectory. When you use this command, prepare any means to stop the origin return.
If "a robot state and working space before the robot stops" and "a robot state and working space when the robot returns to the origin" differ, the robot may collide.
If the trajectory of the origin return is not generated before executing the command, an error will occur.
After the trajectory of the origin return is generated, if you move the robot from the trajectory of the origin return, be sure to re-generate the trajectory of the origin return before you start the origin return.

Example

The following example is a program that the origin return is executed when the I/O is turned on, and the origin return is stopped when the I/O is turned off.

'!TITLE "Sample_MoveBackTraceLog"

Sub Main

  Set IO[128] = 0

  Wait IO[128] = 1  ' Wait until IO128 turns on

  TakeArm Keep = 0
  Motor on

  ' Execute the program to stop the origin return in another task
  Run Stop_BackMove

  CalcBackTraceLog 0  ' Generate the trajectory of the origin return
  MoveBackTraceLog  ' Execute the origin return

  Kill Stop_BackMove

  GiveArm

End Sub

'!TITLE "Stop_MoveBack"

Sub Main

  Wait IO[128] = 0  ' Wait until IO128 turns off
  Kill Sample_MoveBackTraceLog  ' Stop the origin return

End Sub

ID : 9894

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