Appendix A
A.1 MLX200 Add-on Instructions
A-16
168542-1CD
168542-1CD
MLX200 Software and
Operations
A.1.12 MLxRobotMoveCircular
The MLxRobotMoveCircular instruction is used to initiate a Circular Arc
motion of the robot TCP in Cartesian space through two target TCP
Positions. The result is a circular arc trajectory for the robot TCP that uses
the current position as well as the ViaPosition and FinalPosition
parameters to calculate the circular path. The user can specify the target
position as well as desired speed, accel/decel, and jerk parameters (when
using a Jerk-Limited Velocity Profile). These parameters can be specified
as either absolute values (e.g. 750 mm/sec) or a percentage of the max
(e.g. 50%). The max translational and rotational speeds can be found in
the MLX[].Robot[].ConfigurationData data structure.
The rotational motion of the TCP is defined by the RotationType
parameter as follows:
• 0 = Use initial orientation (no rotational motion)
• 1 = Interpolate initial and final orientation (i.e. interior orientation is
ignored)
• 2 = Variable Interpolation (interpolate interior orientation position)
Fig. A-12: MLxRobotMoveCircular
The case of Holding and Restarting a circular motion with
RotationType = 2, the restarted motion will interpolate
directly to the final orientation (i.e. similar to
RotationType=1).
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