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3. PROGRAMMING
a. Teaching Positions
Always select row in program window where you want the next
move or instruction to be placed. From the move type drop down
button select the move type you wish to insert and then press the
"Teach New Position" button to insert the position into your
program. All moves will apply the speed, acceleration and
deceleration setting you have set to the move. Position move types
are as follows:
- Move J - Move J is a joint move where all joints work together to
complete the move, this will not necessarily be a straight line but a
sweeping motion with all joints working together. This is the
simplest and most common move to use.
- OFFS J - this is a joint move that is offset by the values of a
stored position. this move will apply whatever stored position
number you have set in the stored position field that is just above
the "Teach New Position" button. (stored positions are explained
in further detail below in the entry for Move SP).
- Move L - Move L is a linear move, this will execute a perfectly
straight line to the position you teach. This program must send a
series of waypoints that form the line to the Arduino, there is a
couple second delay before any Move L while all waypoints are
being transmitted.
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