FIGAPRP
(Function)
Calculates an approach position where the PTP motion is available, and a reference position figure.
FIGAPRP (<Reference position>, <Approach length>)
For <Reference position>, you can use only a position type.
6-axis
Calculate the figure of <Reference position> which can perform PTP motion from the position (approach position) away from <Approach length> to <Reference position> in the -Z direction of the hand coordinate system.
The system automatically searches a figure available for PTP motion from the approach position to <Reference position> in the following procedure order until the movement becomes available.
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The figure of <Reference position> (If the figure of <Reference position> is indefinite, the current figure is applied.)
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Exchange the wrist figure (flip-non flip) and if the 4th axis movement angle from the approach position to <Reference position> is within ±90 degrees, the motion is assumed to be available.
If the 4th axis movement angle exceeds ±90 degrees or the movement is not available, an error of level 6070 (J* software motion limit over) may occur. In this case, change the current position or approach length.
4-axis
Calculate the figure of <Reference position> which can perform PTP motion from the position (approach position) away from <Approach length> to <Reference position> in the +Z direction of the base coordinate system.
The system automatically searches a figure available for PTP motion from the approach position to <Reference position> in the following procedure order until the movement becomes available.
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The figure of <Reference position> (If the figure of <Reference position> is indefinite, the current figure is applied.)
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Use FIGAPRP if the movement action after the approach is a PTP motion. Use FIGAPRL if it is CP motion.
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<Reference position> and the approach length used in FIGAPRP should be consistent with <Reference position> and the approach length designated in APPROACH motion. If <Reference position> or approach length is different, an error of level 6070 may occur in PTP motion after approach.
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I1 = FIGAPRP(P1, 100.0)
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LETF P1, I1
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APPROACH P, P1, 100.0
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MOVE P, P1
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6-axis
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I1 = FIGAPRP(P1 + (100, 200, 0, 0, 0, 10), 100, 0)
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4-axis
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I1 = FIGAPRP(P1 + (100, 200, 0, 0), 100, 0)
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