Move To

A command for the robot to move to the destination point (PTP motion).
Detailed Settings

• Motion
  Select how the robot will move.

  • Joint: PTP motion
  • Linear: CP motion
  • Jump: Gate motion
    * This feature is available only when the robot type in the program is SCARA or RS.

• Destination
  Select based point of robot destination.

  • Fixed point
    Move to the destination coordinates set via jog and teach or direct input.
    Steps:
  1. Tap the [Jog & Teach] button to set the destination, or directly enter the destination coordinates in X, Y, Z, U, V, W.
     How to Check the Robot Motion

  KEY POINTS

  ---

  Available to name the point (up to 127 characters).
  The names you assign will be displayed on the simulator screen, which is convenient for checking the taught positions.

  2. Set the LJM.

  KEY POINTS

  ---

  The [Move to this position] button is useful for checking the starting point of the palette or for verifying the movement after creating a program.

  • Pallet
    Select the palette you want to use, and then enter the relative position (how far away) it is from the selected palette's location.
    You can create and configure palettes from the gear button.
    For details on palette definitions, refer to the manual below.
    Epson RC+ 8.0 User’s Guide - [Tools]-[Robot Manager]-[Pallets] Page
    Steps:

    1. Select the palette to use.
    2. If necessary, directly input the relative position from the selected palette's location into X, Y, Z, U, V, and W.
       Checking the "Offset" option will open the offset input area.
    3. Select LJM from the dropdown menu.

    KEY POINTS

    ---

    Tapping the [Move to this position] button will move the robot to the starting point of the pallet. This is useful for checking the starting point of a palette or confirming its movement.

  • Point file
    This will take you to the destination selected in the point file.
    Steps:

    1. Tap the [Point File] at destination.

    2. Select the point to set as your destination from the list of points in the point file.

    KEY POINTS

    ---

    The displayed point coordinates cannot be edited here. You can edit your points on the "Point File" screen.

    3. Set LJM from the dropdown menu.

    4. Set the position offset based on the point position selected in step 3.
       This setting is optional.
       Select either [Tool] or [World] and enter the position offset.
       Jog Mode (Easy, Joint, World, Tool)

• Speed
  Set the robot's movement speed.
  The default value in [Settings] is used for “Slow”, “Mid” and “Fast”.
  Setting a Program Operation

  Selecting "Custom" allows you to set "Speed" and "Acceleration/Deceleration" individually.