Mecademic Meca500 - 9 Examples; Draw a Square

50 User Manual for the Meca500 Industrial Robot (for rmware 10.1)
EXAMPLES
9. EXAMPLES
9.1. Draw a square
Here is an example of a very simple program that makes the robot's TCP follow a square path, using the
MoveLin command :
ActivateRobot
Home
MoveJoints(0,0,0,0,0,0)
MovePose(140,-100,250,0,90,0)
MoveLin(140,100,250,0,90,0)
MoveLin(270,100,250,0,90,0)
MoveLin(270,-100,250,0,90,0)
MoveLin(140,-100,250,0,90,0)
MoveJoints(0,0,0,0,0,0)
Figure33 shows the result of four of the motion commands.
(a) MovePose(140,-100,250,0,90,0) (b) MoveLin(270,100,250,0,90,0)
(c) MoveLin(270,-100,250,0,90,0) (d) MoveLin(140,-100,250,0,90,0)
Figure33: The four separate robot positions that dene the motion sequence