Approach and Retract Linear Distance (AP_LD & RT_LD) Introduction

In this video, we will go over the concept of Approach and Retract Linear Distance (AP_LD and RT_LD) and how these modifiers can help optimize robotic motion paths. These functions are essential when precise linear movement is required to avoid collisions or ensure accuracy during pick-and-place operations. Whether you are working with tight tolerances, handling products on a conveyor, or performing tasks like sleeving or deburring, understanding these settings can significantly improve your process efficiency.

We will start by exploring Retract Linear Distance, which ensures a robot moves vertically by a specified amount before transitioning to the next point. This is particularly useful when lifting items out of boxes or clearing obstacles on a conveyor. Next, we will cover Approach Linear Distance, which guarantees a controlled linear motion toward a target position, helping you achieve accurate placement and avoid interference with surrounding objects.

You will learn how these instructions interact with CNT values, why they provide an extra layer of safety when modifying paths, and how they affect cornering behavior. We will also discuss key limitations and considerations, such as supported motion types and the impact of high-speed settings.

Requirements:

• One of the following software options:
  • R806 Advanced Constant Path Control
  • R809 Motion Package

What you will learn:

• How AP_LD and RT_LD guarantee minimum linear distances
• The relationship between Linear Distance values and CNT settings
• How to define distances directly or via numeric registers
• Limitations of the function, including supported motion types and constraints
• Practical examples for improving cycle time and path accuracy

By the end of this session, you will have the knowledge to fine-tune your robot paths for better performance and reliability.