JDEPART/ LDEPART

JDEPART distance
LDEPART distance

Function

Moves the robot to a pose at a specified distance away from the current pose along the Z axis of
the tool coordinates.
JDEPART : Moves in joint interpolated motions.
LDEPART : Moves in linear interpolated motions.

Parameter

Distance
Specifies the distance in millimeters between the current pose and the destination pose along the
Z axis of the tool coordinates. If the specified distance is a positive value, the robot moves
“back” or towards the negative direction of the Z axis. If the specified distance is a negative
value, the robot moves “forward” or towards the positive direction of the Z axis

Example

JDEPART 80 {*The robot tool moves back 80 mm in -Z direction of the tool coordinates
            in joint interpolated motion.*}
LDEPART 2*offset {*The robot tool moves back 2*offset (200 mm if offset = 100) in -Z
                  direction of the tool coordinates in linear interpolated motion*}