User`s guide

APPRO assm.frame:loc.1, 25
MOVE assm.frame:loc.1
;Activate gripper
DEPART 25
APPRO assm.frame:loc.1, 25
MOVE assm.frame:loc.2
;Activate gripper
DEPART 25
; etc.
In the above example, the frame must be taught each time the assembly moves-the
locations on the assembly must be taught only once.
The instruction HERE assm.frame:loc.1 tells the system to record the location loc.1 relative
to assm.frame rather than relative to the world coordinate frame. If a subassembly is being
built relative to loc.1, the instruction:
HERE assm.frame:loc.1:sub.loc.1
creates a compound transformation where sub.loc.1 is relative to the transformation
assm.frame:loc.1.
Miscellaneous Location Operations
The instruction:
DECOMPOSE array_name[] = #loc_name
places the joint values of #loc_name in the array array_name. DECOMPOSE works with
transformations and precision points.
The command:
WHERE
displays the current robot location.
The BASE operation can be used to realign the world reference frame relative to the robot.
Creating and Altering Location Variables
(Undefined variable: Primary.Product_Name_V)Language User's Guide, version
17.x
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