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 ==
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| P
| [1]
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| ACC100
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| EV
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|L
|P
|[34]
|250mm/s
|FINE
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| 4
| C
| P
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| ...
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| PR
|[6
| 2 sec
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| Offset,PR[]
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===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. ▼
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". ▼
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. Programs should always begin with a joint move to a known starting point.
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.
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