STE 85412
5-24
TP3000
series Robot Controller
Step 3: Starting bypass movement
In the servo ON state, keep holding down the [MOVE] key. The robot moves toward the
teach point while performing bypass operation. As shown in the figure below, the robot
operates (P0)
→
(P0a)
→
(P1b)
→
(P1).
When the [MOVE] key is released, movement to the teach point stops. (No bypass
operation is performed in each operation segment).
A) Retraction movement from current position P0 to P0a:
Moves in the orientation of P0 (CONFIG).
B) Parallel and rotating movements from position P0a to P1a:
Moves in the orientation of P1 (CONFIG).
C) Projecting movement from position P1a to P1:
Moves in the orientation of P1 (CONFIG).
Step 4: Finishing bypass movement
Once the movement to the target position is completed, the message on the command
line disappears and the bypass function finishes.
When the [ESC] key is pressed while moving, the move to teach point function finishes.
Caution
When the robot operation is stopped by releasing the [MOVE] key while the robot
hand is moving from P1a to P1 in Step 3, the robot initiates the bypass operation
in the Z axis next time the [MOVE] key is pressed.
P0a
P1a
