ID : 186

Depart

Function

To move from the current position in direction toward the tool's -Z coordinate.

Syntax

Depart motion interpolation, depart length[, motion option]

Guaranteed entry

Motion interpolation: Designate a motion interpolation method: "P"/"PTP" for PTP interpolation motion, or "L" for CP interpolation motion.
Depart length: Designate an depart length by single precision real number type data. Target position option can be added to the depart length.
Motion option: A motion option can be specified.

Description

The system moves from the current position in direction toward the tool's -Z coordinate.

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

Calculation of target position

A target position can be obtained as follows:

TargetPos = DevH(DestPos, P(0, 0, -Length))

'Example of activating the motion after checking that the target position is within the motion space
If OutRange(DevH(DestPos, P(0, 0, -Length))) = 0 Then
	Depart P, Length
End If

Related Terms

Approach

Attention

Example

'!TITLE "Relative Motion by Tool Coordinate Designation"
' Move in direction toward -Z by the value specified by the tool coordinates
Sub Sample_Depart

  Dim aaa As Single
  Dim bbb As Single

  TakeArm Keep = 1

  ' Move to a position 70 mm away from the current position
  Depart P, 70

  aaa = 20
  bbb = 40

  ' Move to a position aaa (20 mm) away from the current position
  Depart L, aaa, Speed = 90

  ' Move to a position bbb (40 mm) away from the current position
  Depart L, bbb, S = 80

End Sub

ID : 186

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