User’s Guide
Start Address This is the location of the code memory of the page that you are currently
working on. You do not have to be concerned about this information.
Play Count This item tells how many times the motion will be played. The default value is 1.
Number of Poses
When you play the motion, the poses from 0 to the valid number of poses will be
played. Inside the saved pose window, the poses that are not valid are in black
color. Sometimes you will need to change the number of valid poses during
editing, for example, if you want to play the first few poses instead of the whole
thing.
Motion Speed Use this when you want to adjust the play speed of the whole page. The default
value is 32. Setting the value to 64 would be the same as doubling the speed of
each of the poses individually.
Acceleration Time
Every time a motion is played, the joints go through a process of acceleration
constant velocity deceleration. The acceleration time is the time of acceleration
and deceleration (ramp up time plus ramp down time). Reducing the acceleration
time will make the motors acceleration faster and stress on the joints. Increasing
the acceleration time might create an interval which makes it impossible to
complete a motion.
Next Page No.
You can set the next motion page to be executed after the current page is
finished being played. This can be done by indicating the page to be played next
in the “next page No.” If you don’t need to play another motion page then set
the value to 0 (default value is 0). If you set “Next Page No.” as the number of
the current page, then playback will continue infinitely in a loop. In this case, you
can press the ESC key to stop the playback. Playback will be stopped after the
current page motion is completed.
Final Page No.
During motion play, if a signal (such as from a remote controller) is received, the
playback will end after the executing the final page defined by this. If this feature
is not needed, then set its value to 0. To use the “motion stop” command in
behavior control program, load 0 in CM-5 “robot motion” item.
Motion Data Download
To download created robot motion to PC, use the “manage” menu of behavior
control programmer.
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