ID : 5350

TrackDepart

Function

With the catch-up motion, move a robot arm from the current position to -Z direction of the tool coordinate.

This command is available in Ver.1.6.* or higher.

Syntax

TrackDepart 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

With the catch-up motion, move a robot arm from the current position to -Z direction of the tool coordinate.
To execute this command, the task must acquire robot axis control.

Attention

This command is dedicated for conveyor and circular tracking.
This command is available only when it is written between TrackStart and TrackStop.
Note that the external speed limit and internal speed limit only affect "Depart" motion that is the robot task motion.
These limits do not affect the catch-up motion.

Example