MOVEMENT INSTRUCTION IN PROGRAMMING STATUS
Programming the movement of a robot requires a certain knowledge about the C3G system and PDL2 pro
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gramming language. However, before creating a true programme, it is possible to carry out a few simple
movements by the direct execution of an instruction. To do this, the system must be in the programming sta
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tus and the menu command EXECUTE must be called which makes it possible to execute an instruction
typed in manually.
In its simplest form the instruction comprises the key words MOVE TO followed by the destination position.
The most useful instruction during the first phases of use is:
MOVE TO $CAL_SYS
This produces a movement of each axis to its calibration position. In its most complete form, it is possible to
select the arm wanted to be moved, the type of trajectory and destination.
The arm is allocated by the key word ARM(arm_num) to be found immediately after the word MOVE. The
definition may be omitted if the system has only one arm or if intending to move the default arm pre-defined
by the system.
The type of trajectory can be of the joints, linear or circular type and it is described respectively by the
pre-defined constants JOINT, LINEAR and CIRCULAR (see C3G Programming guide manual for further
details). If the type of trajectory is not indicated, the value defined in the system variable $MOVE_TYPE is
valid which is normally set to JOINT.
The destination points are typically expressed inside a programme but it is also possible to allocate them di
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rectly in the instruction line of the EXECUTE command. Two ways of allocating the destination point which
are particularly useful for set up and maintenance are described below. A Cartesian destination point can be
allocated through the built-in POS which allows the three co-ordinates x, y, and z in which to take the TCP,
the three tool direction angles and a configuration string as parameters. All the positions of this type are
called POSITION and they always refer to the user reference system active at the time of execution of the in-
struction (current $UFRAME), the configuration string can generally be left blank. The following is a valid po-
sition which defines a point at 100 mm from the user reference in direction z: POS(0,0,100,0,0,0,”). See the
C3G Programming guide and PDL2 Programming Language Manual for further details. A destination
point can also directly define the position that must be reached by each axis of the arm (including auxiliary
axes). For this purpose it is sufficient to type the values separated by a comma (in the correct order) and en-
close the whole statement between curly brackets. A missing value leaves the position of the corresponding
axis unchanged. The following is a position of the joints type which requires axis 1 to move 10 degrees from
position zero, leaves axis 2 still, takes axis 3 to -30 degrees and leaves the wrist unchanged: {10, ,-30}.
Below are some examples of valid movement instructions (see the C3G Programming guide and PDL2
Programming Language Manual for further details).
MAIN OPERATIONS FOR SYSTEM USE C3G Plus
5-8 00/1097
ROBOT MOVEMENT IN PROGRAMMING STATUS
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