Importing Coordinates From The Arm's Current Position - Denso VS-6556G Instruction Manual

Command
PROGRAM
MOTOR ON
TAKEARM
'
j00
p# =
(x,y,x,Rx,Ry,Rz)
move p
move c
@E
@P
DELAY ####
GIVEARM

IMPORTING COORDINATES FROM THE ARM'S CURRENT POSITION

Sometimes when creating a process, it is useful to move the arm manually, then use the current position
in a program. This is a simple process using the Teach Pendant:
1. On the home screen of the Pendant select the Arm button at the bottom (F2)
2. Select the Var. button (F4)
3. Select the POS button (F4)
4. Select Get Pos. (F6) and the arm's coordinates will be imported into the selected variable. This
will not update variables explicitly specified in existing programs.
Declares the program name to be run, this must match the file name
Turns on the robot's motor so the operator does not have to do this manually
This command specifies the program is taking control of the arm
This symbol at the beginning of a line turns it into a comment
Joint equivalent for a point. Sets the exact position of the arm based on joint
positioning, useful for setting home position of robot before starting movement
Sets coordinate positions as a variable to be used later in the program, these
are formatted in the same style as X-Y and Tool Motion Modes. When setting
these coordinates, the arm will position the center of the flange surface to the
specified location
Moves the robot to the specified coordinate variable in a P2P fashion
Moves the robot in an arc with the first variable as the arc center-point and
the second variable as the destination
Specifies the movement as an encoder value check motion. The robot will
pause and confirm its location before continuing on with the program
Specifies a pass-through point. The robot will continue through this point to
the next command without stopping at all
Tells the robot to pause for a specified amount of time in milliseconds before
proceeding to the next command
This usually goes at the end of the program and gives control of the arm back
to the operator or allows another program to take control
Description