Motion Instructions: Difference between revisions
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[[File:Motion Instructions Example.png|thumb|An example of 3 motion instructions in a program on the EDIT screen.|alt=|500x500px]]
Motion Instructions are used to direct the robot to perform motion tasks.
== Syntax ==
The motion instruction syntax is shown in the following table.
{| class="wikitable"
! Line#
Line 18 ⟶ 20:
| P
| [1]
|
|
| ACC100
|-
Line 30 ⟶ 32:
| EV
|-
|
|L
|P
|[34]
|250mm/s
|FINE
|
|-
| 4
| C
| P
Line 36 ⟶ 46:
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|-
| ...
|
| PR
|[6
| 2 sec
|
| Offset,PR[]
|-
|
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Line 54 ⟶ 64:
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Line 62 ⟶ 72:
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Line 73 ⟶ 83:
===Motion Type===
[[File:Motion Type Menu.png|thumb]]
L (Linear) – Move from one point to another in a straight line. This is a slow, but very precise motion type. ▼
J (Joint) – Move from point to point without the requirement of maintaining a straight line.
▲L (Linear) – Move from one point to another in a straight line.
C (Circular) - Move in a circle. The circle always begin at the robot's current position, and flows through the two positions given in the instruction. The first position in the circle instruction is the midpoint, and the second position is the endpoint. Limit the usage to 180 degrees. Always be certain the previous motion instruction's destination is the intended start point for your circle, as otherwise you will encounter the error: "Circle angle too large". Circular instructions spill over into the next line on the screen, exactly as shown on the table above.
▲J (Joint) – Move from point to point without the requirement of maintaining a straight line. This is the quickest way to a position, and results in the lowest amount of wear on the robot's joints and gears.
A (Circular Arc) – Curved paths calculated from a large number of positions. This is not covered in any lab or assignment, and will only appear as extra credit if at all.
===Position Type ===
P – (position) direct position in space. Typically recorded by jogging to point and setting as position value. Each position is unique to the program it is in. P[1] in one program has no relation to P[1] in another.
Line 170 ⟶ 180:
This determines what to do when approaching the destination point given in the motion instruction.
* Fine – When completing a motion instruction, the robot will reach each point. If the next point is at an angle relative to the path to reach the current point, the robot will accelerate and decelerate as necessary to ensure the point is actually reached
** For a very short period of time, the robot will have come to a complete stop. For this reason, most FINE instructions take additional time and are hard on the robot's components.
* Continuous (CNT) – When completing a motion instruction, the robot will decelerate as it approaches the point and "round off" the corner as it goes from point to point as a percentage. The number following the CNT option represents the percentage of speed it is allowed to slow to, to make a "best effort" to go toward the point. Continuous motion is healthier for the robot and the robots tools, as acceleration is more spread out.
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