111
Set the variable as arguments for the robot motion sample function
(fhsample_move) and execute it.
WARNING
These operations drive the robot.
Operate the robot in the state whereby pressing the
[Emergency stop] button can stop its motion anytime.
7.6.
Moving Robot to Robot Command Position at Measurement
For a processing to move the robot to the robot command position at measurement,
follow the procedures below.
1
By the procedures at step 3 in Chapter 7.4, check that the measurement results
are stored in variables.
2
;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
; (6)Move the robot to the measuring position.
; You have to edit this section for your application.
; e.g: Adding an end effector control, depart path motion, etc.
;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
;!!!!!!!!! CAUTION !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
; The following function drives a robot motion immediately.
; Confirm the settings before execution.
;!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
CALL
fhsample_move
(res_cmd_pos_x, res_cmd_pos_y, res_cmd_pos_z, res_cmd_pos_w,
res_cmd_pos_p, res_cmd_pos_r)
; Error check
IF
err_no <> success
THEN
TYPE
"ERROR: fhsample_main(): The measuring robot position is out of range :"
, err_no
GOTO
10
END
TYPE
"Move to the measuring position Done."
Set the variables as arguments for the robot motion sample function
(fhsample_move) and execute it.
WARNING
These operations drive the robot.
Operate the robot in the state whereby pressing the
[Emergency stop] button can stop its motion anytime.
Robot motion sample function
