RAPID reference manual - Technology

CorrConPath offset & RobotWare-Arc SensorInstruction- Path coordinate axis X is given as the tangent of the path.- Path coordinate axis Y is derived as the cross product of tool coordinate axis Zand path coordinate axis X.- Path coordinate axis Z is derived as the cross product of path coordinate axis Xand path coordinate axis Y.Application exampleAn example of an application using path corrections is a robot holding a tool with twosensors mounted on it to detect the vertical and horizontal distances to a work object.Sensor forhorizontal correction.Z PY PSensor forvertical correctionPath coordinate systemToolX PFigure 5 Path correction device.Program exampleCONST num TARGET_DIST := 5;CONST num SCALE_FACTOR := 0.5;VAR intnum intno1;VAR corrdesc hori_id:VAR corrdesc vert_id;VAR pos total_offset;VAR signalai hori_sig;VAR signalai vert_sig;VAR pos write_offset;70 RAPID reference manual - part 1a, Instructions A-R