OPERATOR’S MANUAL
series Robot Controller
5.2.16 Move to Teach Point [BYPAS]
When moving directly to the teach point using the M-TO (Move to Teach Point)
function, there is a danger of interference with the workpiece along the path. To
prevent this, the BYPASS function retracts the hand in the +Z direction (upward
direction), moves to the space above the target position, and then moves to the
target position.
(1) Parameter settings
[U23] Bypass function parameter
{ Function enable SW (0:Disable, 1:M-to & Bypass,
2:Bypass ) ←
1
= 1
{ Retract position } ←
2
= 0.0 0.0 200.0 0.0 0.0 0.0
{ Z Axis offset parameter } ←
3
= 0.0 0.0
1 BYPASS function Enable/Disable setting
{ Function enable SW }
= 1
0: M-TO/BYPASS disable
1: M-TO/BYPASS enable
2: M-TO disable/BYPASS enable
2 Retract position parameter (for SCARA robot)
{ Retract position }
= 0.0 0.0 200.0 0.0 0.0 0.0
In the SCARA robot, the third value is entered as the absolute position. The
other values are invalid even if they are defined.
STE 80720
– 5-35 –
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