# Teaching Robot | Programming the robot Nachi

## Specific definition of Position

#### 1.Approach Position

Each Process exists one Position.

Safety Position is a safe area to move back and forth between processes.

When teaching Approach Position, moving between the app positions of processes must not cause collisions.

The number of poses is divided by the number of the process (n)00

When Origin returns, the stepmemory (V100%) used in the start approach is defined as (n)00, End Approach is (n)99.

For example, the App Pose number of P1 is 100, in case of End Approach course, stepmemory (V100%) is the integer value 199

#### 2. Wait Position

Location before entering Process

Hypothesis Teaching where there are no obstacles to that process.

In addition, when moving between processes, when moving Wait to Wait, there must be no obstacles, but in case there are obstacles, it is necessary to move through the Approach.

After finishing the Process, you can move to the basic waiting position, in addition to the error position.

The number of poses is divided by Process number (n)01

Stepmemory division(V100%) is used for origin return then define Start Approach as (n)01,End Approach as (n)98

For example: Pose Wait of P1 is 101, and store the Integer value in stepmemory (V100%) enter the integer value 101.

#### 3. Up Position

Depending on the Tool and Process, the starting position of the Get or Put process can exist many Up numbers.

When a Get&Put Error is generated, handle Retry. Retry again after returning to Up position

The number of Pose is distinguished by the number of Process(n) 10. In case if you need a lot of Up Position because there are many tools, write (n)20, (n)30.

Stepmemory (V100%) is applied on Origin Return differentiated by Process number (n)10 or (n)20.

For example: Up pose tool1 number of P1 is 110, Up pose tool2 number is 120.

In Step Memory case tool1 enters constant value 110. Tool2 enters constant value 120.

#### 4. Down Position

There can exist many types of Down depending on the Get and Put Process location, process, tool…

Pose is split into Process(n)11. In case of needing multiple Down Posedo to construct HAND skin, it should be written as (n)21, (n)31.

The Stepmemory (V100%) used in Origin Return is split into Pose(n)11 or (n)21.

For example: Pose Down number of tool 1 of P1 is 111. Pose Down number of tool 2 is 121. If it is tool 1, enter the value Integer 111, If ​​it is tool 2, enter 121 into Stepmemory (V100%).

Important: