2.6. REFP

2.6. REFP

 

REFP is a command to insert the reference point required for weaving motion.

 

Description	Insert reference points such as weaving wall or approach direction.
Grammar	REFP <Reference point number>,<Pose (number)> REFP <Reference point number>
Parameter	Reference point number	The number to set the type of reference point.	1~4
	Pose number	Inserts pose of reference point. Except, it is omitted in case it is inserted as hidden pose.
Example of usage	REFP 1,P1 REFP 1 REFP 2, (-1073.33, 739.01, 258.30, 0, 76, 23)

 

 

l Alike the MOVE grammar, the REFP grammar falls under the step.

 

l The hidden pose type is adopted when entering the REFP command by using the user key’s <REFP> key through the teach pendant.

 

l It is possible to move to the teaching position by executing the step advance after setting the execute unit as Cmd, Step.