Page 150 - Welding Robots Technology, System Issues, and Applications

following simple commands can be sent to access the above services (see also
Table 4.2): Robotic Welding: System Issues 137

Send the robot to position “Home”
Connect
Send message: variable_write decision1 num 1000
Close

Move the robot 25mm in the positive X direction and 30mm in the positive Y
direction

Write 25 to X
Connect
Send message: variable_write x num 25
Close

Write 30 to Y
Connect
Send message: variable_write y num 30
Close

Select Linear Motion
Connect
Send message: variable_write move_type num 1
Close

Call the Service “Move_Cartesian_Linear_Joint”
Connect
Send message: variable_write decision1 num 1001
Close

Move the robot now
Connect
Send message: variable_write move num 1
Close

Other motions can be commanded now writing to x, y, z, rx, ry, rz, and setting
move = 1 after that to effectively move the robot.

To leave the service
Connect
Send message: variable_write decision1 num 0
Close