ID : 2705

MoveBackTraceLog

Function

To execute the Home Position Guidance.

This command is available in Ver.2.14.* or later.

Syntax

MoveBackTraceLog

Description

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

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

Related Terms

CalcBackTraceLog, SysLog.Ctrl.UserData

Attention

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

Example

The following example is a program that the Home Position Guidance is executed when the I/O is turned on, and the Home Position Guidance 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 Home Position Guidance in another task
  Run Stop_BackMove

  CalcBackTraceLog 1  ' Generate the trajectory of the Home Position Guidance
  MoveBackTraceLog  ' Execute the Home Position Guidance

  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 Home Position Guidance

End Sub

ID : 2705

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