Instruction to do a offset relatively to a teach point

    Hey, i want to do a offset relatively to a teach point, i read in the manual about the IMOV instruction, but i don't know how to use it. How i do a offset, for example, in Z (tool) relatively to a teach point? Thank you

    Set a position variable up in something XYZ (Base, Robot, Tool, or User). Fill in to direction and amount.


    When this instruction executes the robot will move the direction and amount in the position variable from wherever it is at.


    P000 Base (or Robot or Tool, or User)


    X 0.000 Rx 0.00

    Y 0.000 Ry 0.00

    Z -25.000 Rz 0.00


    IMOV P000 V=46.0 TF


    This would have the tool move 25 mm from where it is at in the Z- direction at a velocity of 46 mm/sec. The Z- direction is referencing the tool because of the TF coordinate tag. Without the tag the robot would reference the base of the robot direction.

    I know a thing or two, because I’ve seen a thing or two. Don't even ask about a third thing. I won't know it.

    '...............Move with offsets

    SET P110 P111 ............................I taught earlier P111 but I dont work with it, I copied to P110 and I work with P110

    SETE P110 (1) D030

    SETE P110 (2) D032 ......................This snippet is for picking up a part, The part is sitting on a pallet I robot approaches from the top

    SETE P110 (3) -40000

    SETE P110 (6) D033

    MOVL P110 V=D087 PL=0 .............This is my first approach manipulating the tool to be oriented it to the part

    '..............Approach part

    SETE P110 (3) -444000

    MOVL P110 V=D087 PL=0 ...............Move to an approach point right on top of the part but I dont exactly know where the part is as far as

    ' the Z value

    ' .........................................................Pick up part Here is where I start doing a loop using imov and a laser telling me how close i am

    GETE D091 P111 (3) ........................Basically i read where robot is, check laser dimension, compare it and if no good , program loops

    *NOT_YET

    IMOV P101 V=350.0.........................In P101 I have a value of 2 in the z coord 0,0,2,0,0,0

    DIN B061 IG#(20)

    GETS PX100 $PX001

    GETE D092 P100 (3)

    IFTHEN D091>=D092 ORIF B061<=39

    JUMP *OK

    ENDIF

    JUMP *NOT_YET

    *OK

    '......................Grip part

    CALL JOB:TOOL1_PU

    '....Move up until clear of conv

    GETE D033 P110 (3)

    ADD D033 300000

    SETE P110 (3) D033

    MOVL P110 V=D085 PL=0

    SHCKRST

    CALL JOB:TOOL1_PIP_CHECK

    JUMP *END

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    I know a thing or two, because I’ve seen a thing or two. Don't even ask about a third thing. I won't know it.

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