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4MELFA-BASIC V
CAUTION
The value of the start point of the pallet definition is employed for the structure flag of
grid points (FL1 of position data) calculated by pallet operation (Plt instruction).
For this reason, if position data with different structure flags are used for each point of
the pallet definition, the desired pallet operation cannot be obtained.
Use position data whose structure flag values are all the same for the start point, end
points A and B and the diagonal point of the pallet definition. The value of the start
position of the pallet definition is employed for the multi-rotation flag of grid points (FL2
of position data) as well. If position data with different multi-rotation flags are used for
each point of the pallet definition, the hand will rotate and move in unexpected ways
depending on the robot positions the pallet operation goes through and the type of
interpolation instruction (joint interpolation, line interpolation, etc.). In such cases, use
the TYPE argument of the interpolation instruction to set the detour/short cut operation
of the posture properly and ensure that the hand moves as desired.
MELFA-BASIC V functions 4-100
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