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Chapter 12 Robot Control Statements

12-1

12.1 Motion Control

APPROACH (Statement)

Function

Executes the absolute movement designated in the tool coordinate system.

Format

APPROACH <Interpolation method>, <Base position>,[<Path start

displacement> ]<Approach length>[,<Motion option>][,NEXT]

Explanation

The position type, joint type or homogeneous type can be used for <Base

position>.

6-axis The robot moves to a position away from the <Base position> by <Approach

length> in the -Z direction of the tool coordinate system.

4-axis The robot moves to a position away from the <Base position> by <Approach

length> in the +Z direction of the base coordinate system.

Either P (or PTP) or L can be selected for <Interpolation method>.

Interpolation method Meaning

P (or PTP) Moves in PTP control.

L Moves in CP control.

The <Path start displacement> value is expressed by the radius of a globe with

the target position centered. If the motion instruction value is entered the robot

proceeds to the next control. Designate the value in millimeters. The aim is to

change the pass start timing with this value.

Also note that if the end of the arm enters the globe, the robot does not

proceed to the next control.

If the value is ignored, it is processed as the default value @0.

If the value is @0, the robot moves in the end movement.

If @P, it moves in the pass movement.

If @E, the robot checks the arrival at the target position with the value of the

encoder and then proceeds to the next movement.

For <Motion option>, there are SPEED, ACCEL, and DECEL options.

Motion option Meaning

SPEED (or S) Designates the movement speed. The meaning is

the same as the SPEED statement.

ACCEL Designates acceleration. The meaning is the same

as the ACCEL statement. However, deceleration

cannot be designated. Use the DECEL statement

to designate deceleration.

DECEL Designates deceleration. The meaning is the same

as the DECEL statement.

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Denso RC5 Specifiche Pagina 277

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