Omron fh series - Page 42

40
The approach position is the
point of access to the Robot
Command position.
The approach distance is the
offset value in the Z
direction(mm) in the robot
base coordinate system.
3
The [SetApproPos] node
calculates the approach
position by adding the
approach distance in the Z+
direction from the robot
command position.
4
The [aproPos] node moves the
robot to the approach position.
Then, move to the robot
command position
[resCmdPos]. At this position,
the workpiece can be grasped.
The sample program ends
after moving to the robot
command position.
WARNING
 These operations drive the robot.
 Operate the robot in the state whereby pressing the
[Emergency stop] button can stop its motion anytime.
 In the base list, select [RobotBase] as the current base.
 In the tool list, select [NOTOOL] as the current tool.
Point Node
Point Node
Set Node