Figure 11.19 Move Joint
The Move Condition Setting has three choices: Move Joint, Move Line, and Move Track.
Relative displacement: Users can adjust manipulator or TCP by changing the values of XYZ.
Coordinate system: Users can choose base coordinate system, end coordinate system or user-defined
coordinate system (plane). User-defined coordinate system (plane) can set the reference coordinate system
of relative displacement by【IO control】->【PLC I/O】. See 10.3.3 PLC I/O Tab.
The blend radius is applicable to all modes except B-Spline in move Track motion. Among them, the
blending radius of the MoveP mode ranges from 1 to 50 mm, and the remaining modes are from 1 to
100 mm. The operating characteristic of the blend radius is a continuous motion and does not stop at
this waypoint. The blend radius runs as shown below.
Figure 11.20 Blend radius moving track
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