12-6
Related Terms
APPROACH, SPEED
Example
DEFSNG lf1, lf2
6-axis DEPART P, 70 'The robot moves (PTP control) to a position 70 mm
'away from the current position in the –Zm direction.
DEPART L, lf1, SPEED = 100
'The robot moves (CP control, S = 100) to a position lf1
'distance away from the current position in the –Zm
'direction.
DEPART P, lf2, S = 50 'The robot moves (PTP control,S=50)toaposition lf2
'distance away from the current position in the –Zm
'direction.
DEPART L, 80 'The robot moves (CP control) to a position 80 mm away
'from the current position in the –Zm direction.
4-axis DEPART P, 70 'The robot moves (PTP control) to a position 70 mm
'away from the current position in the Zb direction.
DEPART L, lf1, SPEED = 100
'The robot moves (CP control, S = 100) to a position lf1
'distance away from the current position in the Zb
'direction.
DEPART P, lf2, S = 50 'The robot moves (PTP control,S=50)toaposition lf2
'distance away from the current position in the Zb
'direction.
DEPART L, 80 'The robot moves (CP control) to a position 80 mm away
'from the current position in the Zb direction.
Notes
The figure of the DEPART motion position is that of motion start. As a result
there is a possibility that “error 667* software motion limit over, beyond motion
space 2” may occur since the DEPART operation position will be beyond the
operation space. In this case, replace the instruction with the MOVE
instruction as described in REMARKS and change the figure using LETF (refer
to “10.3 Figure”).
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