JAPPRO/LAPPRO

JAPPRO pose variable , distance
LAPPRO pose variable , distance

Function

Moves in tool Z direction to a specified distance from the taught pose.
JAPPRO: Moves in joint interpolated motion.
LAPPRO: Moves in linear interpolated motion

Parameter

Pose variable
Specifies the end pose (in transformation values or joint displacement values)

Distance
Specifies the offset distance between the end pose and the pose the robot actually reaches on the
Z axis direction of the tool coordinates (in millimeters). If the specified distance is a positive
value, the robot moves towards the negative direction of the Z axis. If the specified distance is a
negative value, the robot moves towards the positive direction of the Z axis.

Explanation

In these commands, tool orientation is set at the orientation of the specified pose, and the position
is set at the specified distance away from the specified pose in the direction of the Z axis of the
tool coordinates

Example

// Example of function used
{* Multi line comments*}
// Use Pascal highlighter for best results when displaying AS language

JAPPRO place,100 {*Moves in joint interpolated motion to a pose 100 mm away from the
pose “place” in the direction of the Z axis of the tool coordinates.
Pose “place” is described in transformation values.*}
LAPPRO place, offset {*Moves in linear interpolated motion to a pose away from the pose
“place”, described in transformation values, at the distance defined by
the variable “offset” in the direction of the Z axis of the tool
coordinates.*}

[NOTE]

[Note in definition]