Tool offsets
8.11 Smooth approach and retraction
Fundamentals
Programming Manual, 11/2006, 6FC5398-1BP10-2BA0
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Reading positions
Points P
3
and P
4
can be read in the WCS as a system variable during approach.
• $P_APR: reading P
•
3
(initial point)
• $P_AEP: reading P
•
4
(contour starting point)
• $P_APDV: read whether $P_APR and $P_AEP contain valid data
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