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6. Programming the Robot Arm with CPRog
6.1 Program Elements
A Mover4 robot program is build out of the following commands:
Lin
The robot moves on a straight line from the
current position to the target position. The
velocity is defined in mm/s.
Joint
Interpolates the axis from the current position to
the target position in joint coordinates. Velocity
is defined as percentage of the maximum joint
rotational velocity.
Relative
A linear or joint motion with a defined distance
starting at the current position. Velocity in mm/s
or percent.
Wait
Waits for a time span defined in s.
Gripper
The gripper command open (100%) or closes
(0%) the gripper.
DigitalOut
Sets a digital output. The button on the left side
records the current gripper state.
Loop
Iterates the included commands until a digital
input is set or the defined number of iterations is
reached.
If-Then-Else
Executes two different command lines
depending on the state of a digital input.
ExternalMotion
Passes control to an external program connected
via sockets, e.g. a vision system. See section
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werden. for details.
Sub
Allows to call sub programs to structure longer
tasks.
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