SIGDEPART instruction

[adasko007]

Hi
I have some old programs at kawasaki robots at our company. It was made by someone who doesn't work for us now, and I sow a strange instruction there:
SIGDEPART. I was searching in it in manual "AS language programming" but I didn't find it. Would you tell me what sigdepart mean?

[adasko007]

And how? Nobody know? 

[tdevine77]

I have not seen it either, it would be nice it you could post part of the code with this command in it to see how it is being used.

My best guess is that when a defined signal comes on (SIG) then the robot will depart a defined distance and direction from where it is (DEPART).

Tommy D

[t2o]

Jdepart -->> moves the robot in the -Z tool frame a specified distance using joint interpolation


Ldepart-->> moves the robot in the -Z tool frame a specified distance using linear interpolation

I can not find the sigdepart though in any of my reference material.

[Antxoka]

SIGDEPART is not a Kawasaki Instruction.

Not in Europe.

Maybe it's a variable that your engineer creates for something.

If you send me the program, I can help you sure.

[adasko007]

From terminal:
help sigdepart


SIGDEPART LMOVE location,clamp-number


It looks like robot move to the location and near that location some defined signals are set... ()