Loctite CARTESIAN 400 - Manual (Page 87)

The distance or speed can be set using variable or expressions.
waitCond
ld #genIn2
endWait
downZ #P_Z(1)-#point_Z,20 Wait in place until the following conditions are met.
#genIn2=ON (Condition)
End of conditions
Lower or raise only the Z axis at the speed of 20 mm/sec by
a distance calculated by deducting the Z coordinates of the
current point from the Z coordinates of P1.
#P_Z(1): Variable which has the Z coordinates of P1 as a value in the current program.
#point_Z: Variable which has the Z coordinates of the current point as a value.
If you assign a value to the variable “#jobStartHight” for a “Job before Moving” or a “Job while
Moving” (let), the robot starts a point job from an assigned value above the set point Z
coordinate.
Example)
P01
Type: CP Start Point
Job before Moving: Point Job Data 3
Point Job: Point Job Data 12
#jobStartHight 25
Point Job Data 3
Start of “Point Job”
2.5
m
m
P1
Features II CARTESIAN Benchtop Robot 69