13.6 Command: Fixed Waypoint
Note on I/O Timing
If a waypoint is a stop point with an I/O command as the next command, the I/O
command is executed when the robot arm stops at the waypoint. However, if the
waypoint has a blend radius, the following I/O command is executed when the robot
arm enters the blend.
Example
Waypoint2
WaypointStart
movel
Waypoint1
if (digital_input[1]) then
else
endif
WaypointEnd1
WaypointEnd2
Program
Ending point 1
Starting point
Straight line segment
5 cm blend
Waypoint 1
Waypoint 2
10 cm blend
Ending point 2
Straight line segment
This is where the input
port is read!
A small example in which a robot program moves the tool from a starting position to
one of two ending positions, depending on the state of digital input[1]. Notice
that the tool trajectory (thick black line) moves in straight lines outside the blend areas
(dashed circles), while the tool trajectory deviates from the straight line path inside the
blend areas. Also notice that the state of the digital input[1] sensor is read just
as the robot arm is about to enter the blend area around Waypoint 2, even though
the if...then command is after Waypoint 2 in the program sequence. This is
somewhat counter-intuitive, but is necessary to select the right blend path.
CB3 II-54 Version 3.1 (rev. 17782)
Copyright © 2009-2015 by Universal Robots A/S. All rights reserved.
To Next Page
Loading...
Need help?
General
