Motion Instructions: Difference between revisions
→Motion Modification
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| Fine
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| CNT50
| EV
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===Motion Type===
C (Circular) -
L (Linear) – Move from one point to another in a straight line.
J (Joint) – Move
A (Circular Arc)
===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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wrist could be N (not-flipped) or F (flipped), elbow could be U (up) or D (down), robot could be T (Front) or B (back)
===Speed===
{| class="wikitable"
|+Each motion type has a list of valid units, listed below.
!Units
!J
!L
!C
!A
!Description
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|mm/sec
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|cm/min
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|inch/min
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|deg/sec
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|sec
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|x
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|msec
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|%
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XX% - The robot will move at a percentage of its rated speed and given payload.
Line 90 ⟶ 180:
** CNT0 is very similar to FINE but is computationally distinct, so it may result in a slight difference.
===Motion Modification===
<br />
* No option - Select this element when you wish to remove (or just not add) the selected modification.
*Wrist Joint
*ACC - Acceleration. Use this to limit the acceleration of the motion instruction. Without this modifier, the robot will use normal calculations to determine acceleration and velocity (such as payload, joint limitations, speed variables)
* SKIP,LBL[]
**This modifier is added to a motion instruction to skip over subsequent lines if a condition is found to be true.
**The motion line it is added to will complete before evaluating the condition. It simply sets an interrupt once the motion instruction finishes, to stop wherever it happens to be, even mid-motion, to jump to another part of the program instead.
**You would initialize this condition with the line [[SKIP]] CONDITION RI[8]=ON ahead of time.
* Offset/Frames
*[[OFFSETS|Offset,PR[]]] - Offset by a Position Register. Whatever is in the position register for the offset will be added with the contents of the position used for the motion instruction. The result only affects that motion instruction, the position register and position variable for the instruction will be unchanged.
**J P[1] 100% FINE OFFSET PR[3] with 100,100,100,0,0,0 in P[1] and 10,20,30,0,0,0 in PR[3] will actually go to point 110,120,130,0,0,0
* Incremental
* Tool_Offset
* Tool_Offset,PR[
* TIME BEFORE
* Skip,LBL,PR
* TIME AFTER
* DISTANCE BEFORE
* VOFFSET
* VOFFSET,VR[]
* DO[]=...
* RO[]=...
* GO[]=...
* AO[]=...
* PTH
== Adding Motion ==
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