# Nachi Robot Offset Move

• Hey guys,

I am workin with my first nachi robot and am looking to write an offset program. Normally when programming robots I will read in my current position, then apply either apply a set z height that I know is clear to the current position or apply a static z offset. Then go to the same position that it was left at (random position in travel) then apply the offset and it will move up to a safe height, then from there it can go home. What does this look like in nachi? I am currently attempting to do this using XYZ shift FN58 but even with it all being linear moves when I apply the shift the robot will move up but it doesnt maintain the pitch/roll It moves the TCP straight up, but also rolls it quite a bit. I have tried this using world and TCP frames. Please let me know if you have any suggestions.

Thanks,

Kevin

• Example to Home the robot as below

Code
``````DIM Position[2] As POSITION 'FN801-DEFINE Variable Position
MOVEX A=1,AC=0,SM=0,M1J,P,P*,R=20.0,H=2,MS 'Move to Current position
GETPOS 0,1,Position[1],0,1 ' USE FN 822 -Get Current Machine cordinate position
OPEPOS 0,Position[1],V1!,0,0' USE FN 826- Extract X,Y,Z,Roll,pitch,yaw into real variables V1 to V6``````

Current position of (Z) available in V3!.You can then use IF statements to compare V3! and then MOVE robot safely to Home

• Example to Home the robot as below

Code
``````DIM Position[2] As POSITION 'FN801-DEFINE Variable Position
MOVEX A=1,AC=0,SM=0,M1J,P,P*,R=20.0,H=2,MS 'Move to Current position
GETPOS 0,1,Position[1],0,1 ' USE FN 822 -Get Current Machine cordinate position
OPEPOS 0,Position[1],V1!,0,0' USE FN 826- Extract X,Y,Z,Roll,pitch,yaw into real variables V1 to V6``````

Current position of (Z) available in V3!.You can then use IF statements to compare V3! and then MOVE robot safely to Home

I am a little confused by this. I am not exactly sure what the movex does. If in my case I would try to move to a z of a fixed 500 how would I do the final move with the current position applied? I think I need 1 more line but am struggling with getting it working.

• Above ASCII code need to be compiled

MOVEX and Pose file details are available in the Robot Language Manual.