Val3 help

    Hello!
    I'm new to Val3 and Staubli Robotics.
    For a school project I'm doing a pick and place to a tray with square holes. I have created an array of points to drop off the blocks and a second array of points above the first array to avoid any obstacles. Our instructor wants us to use the APPRO command instead of the second array.
    I have tried this but it doesn't work.


    movej(appro(drop[i]), -100)
    waitEndMove()
    movel(drop[i],flange,mSlow)
    waitEndMove()


    Any help please.


    Thank you

    Hello JohnC,


    Your move instruction is missing the tool and the mdesc, and your appro instruction is wrong. The appro of a point can basically be in any direction. Which means the system needs to know in which direction you want to go -100 (and this has to be in the same parentheses). You can also use a variable of type trsf.


    Try this:
    movej(appro(drop,{0,0,-100,0,0,0}),flange,mSlow)


    Greats Psyril

    The difference between theory and practice is greater in practice than in theory.

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