WLKATA Mirobot - Page 48

WLKATA Mirobot Manipulator User Manual
Document version 1.0 User Manual Copyright© Beijing Tsinew Technologies Co., Ltd.
options and Coordinate control options. Double click the Quick command and the code will be
inserted into the command line.
The list of Quick command and description is as below:
Quick
commands
group
Quick command
Description
Action options
Homing
api.home_simultaneous()
Perform the homing routine on
all axis at the same time.
Unlock
api.unlock_shaft()
Unlock the shaft enabling
movement.
Go to zero
api.go_to_zero()
Send each axis to its 0 position.
Suction cup on
api.suction_cup_on()
Switch on the suction cup.
Suction cup off
api.suction_cup_off()
Switch off the suction cup.
Slider move to
api.slider_move_to(x, speed)
Move the slide rail to the
specified position.
Conveyor
Move to
api.conveyor_move_to(ConveyorMode.relative,
0, 1500)
Move the slide rail to the
specified position
Set Delay Time
api.set_delay_time(1)
Delay the next action after the
specified time
Angle control
options
Go to axis
api.go_to_axis(0,0,0,0,0,0,1500)
Mirobot moves from the
current position to the specified
position in the angle mode.
Increment of
each axis
api.increment_axis(0,0,0,0,0,0,1500)
Mirobot moves from the
current position to the specified
position
Move axis
api.move_to_axis(MirobotJoint.Joint1,
RevolveDirection.cw, 0, 1500)
Rotate specify axis the specified
value in the specified direction
Coordinate
control options
Go to Cartesian
position
api.go_to_cartesian_lin(202,0,181,0,0,0,1500)
Mirobot moves from the
current position to the specified
position in the coordinate
mode.
The increment
in Cartesian
space
api.increment_cartesian_lin(0,0,0,0,0,0,1500)
Mirobot moves specified
number of coordinates in
specified direction.
Directional
movement
api.direction_mobility(MoveDirection.forward,
0, 1500)
Mirobot moves specified
coordinates independently from
the current position in the
specified direction
Jump move
api.jump_move(ConveyorMode.relative, 0, 0, 0,
1500)
Jump move to the specified
position.
Arc move
api.set_arc_move(MoveMode.relative,
RevolveDirection.cw, 0, 0, 0, 60, 1500)
move in an arc path