MOVE LINEAR TO POS(100,200,300,0,0,0,’’) linear movement of the arm pre-defined on a
Cartesian point of co-ordinates x=100, y=200
and z=300 and tool tern with the same direction
as the user tern.
MOVE JOINT TO POS(0,0,0,0,180,0,’’) joints type movement of the pre-defined arm on
a Cartesian point of co-ordinates x=0, y=0 and
z=0 and axis z of the tool tern facing the oppo
-
site direction to z of the user reference.
MOVE JOINT TO {0,0,0,0,0,0} joints type movement of the first six axes of the
default arm on the zero positions.
MOVE JOINT TO {,,,,,90} movement of only axis 6 of the default arm on
the 90 degrees position.
MOVE LINEAR TO {45} linear movement that takes the arm in a position
that differs from the initial one only for axis 1
which is taken to 45 degrees. During the linear
movement of the TCP all the arm axes can
move.
MOVE ARM[1] LINEAR TO POS(100,100,100,0,0,0,’’) linear movement of arm 1 that takes the TCP to
the given Cartesian position in relation to the
user tern.
MOVE ARM[2] JOINT TO POS(0,0,0,0,180,0,’’) joints movement of arm 2 which takes the TCP
to the given Cartesian position in relation to the
user tern.
MOVE ARM[1] LINEAR TO {0,0,0, , ,} linear movement that takes the first arm to a
Cartesian position in which the first three axes
have value nil while the wrist axes return to the
initial position. During the linear movement of the
TCP all the arm axes can move.
MOVE ARM[2] JOINT TO {-90} movement of the second arm which moves only
axis 1 to the 90 degrees position in the negative
direction.
MOVE CIRCULAR TO POS(100,100,0,0,0,0,’’) VIA
POS(0,200,0,0,0,0,’’)
pre-defined arm movement which joins the start
-
ing point at POS(100,100,0,0,0,0,”) with a cir
-
cumference that passes through
POS(0,200,0,0,0,0,”)
Before performing a movement it is wise to check the correct definition of the reference
systems and in particular the tool tern and user reference statement ($TOOL and
$UFRAME). These statements may be overlooked only in the case of joints type movements
on joint points such as for example MOVE JOINT TO $CAL_SYS. In all other cases the
consequences can be dangerous with risks to personnel and tooling. In particular if the
description of the tool is not correct ($TOOL wrong) the TCP will not reach the point re
-
quired, nor will it perform a correct linear or circular trajectory. With regard to the description
of the user tern ($UFRAME) it is important to check that, when the movement is executed, it
is the same as the one active at the time of memorising the point. If not, positioning will take
place differently than memorised. Freedom is however left to re-execute the same trajecto
-
ries with different $UFRAME values as this is indispensable for certain applications which
specifically require movement of the whole programme inside the working space (palletising
applications).
C3G Plus MAIN OPERATIONS FOR SYSTEM USE
00/1097 5-9
ROBOT MOVEMENT IN PROGRAMMING STATUS
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