Place at

A combined command that moves the robot arm to the destination and releasing a work from hand.

Contents of command

Command	Label	Operation
Move To	Approach Pt.	Move with PTP motion to approaching point
Move To	Destination	Move straight to destination point
Release	-	Release a work
Wait	Time, 0.5	Waits 0.5seconds
Move To	Departure Pt.	Move straight to departure point

Detailed Settings

• Destination
  Select based point of destination.

  • Point
    Move to the destination coordinates set via jog and teach or direct input.
    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, which is convenient for checking the taught positions.

  • Pallet
    Select the palette to use as the reference position from the pull-down list.
    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

  • Point file
    Tap [Point File] and select the point you want to set as your destination from the list of point files.

• Waypoint
  This setting determines the distance from the waypoints the robot will pass through when executing the "Place at" command to the target location.
  When “Use the [Settings] value.” is selected from pull down list, the value set in the Settings is used.
  Setting a Program Operation

• Decompose commands
  Tapping the [Edit] button allows you to break down a group of "Place at" commands into a sequence of regular commands.
  This is used when you want to make detailed settings that are not possible with just the "Place at" command settings.
  Once you tapped , and edited commands, you can not restore the original settings.