Motion Instructions: Difference between revisions
no edit summary
No edit summary |
|||
Line 1:
[[File:Motion Instructions Example.png|thumb|An example of 3 motion instructions in a program on the EDIT screen.|alt=|500x500px]]
Motion Instructions direct the robot to perform motion tasks.
Line 86:
For an understanding of the contents of the position variables, see [[DATA]].
===Speed===
The speed units are first chosen, then the value is entered.
==== Units ====
{| class="wikitable"
|+Each motion type has a list of valid units, listed below.
Line 148 ⟶ 151:
XXmm/s - The robot will move at a speed determined by the velocity of the tool's end.
==== Values ====
* SPEED - By default, the value entered would be a direct speed, accepting numeric values.
* REGISTER - The softkey REGISTER will allow you to insert a register as the speed variable.
** DIRECT - The contents of the register at the start of the instruction will be used as the speed value.
** INDIRECT - The contents of the inner register will determine which outer register's contents will be used as the speed value.
===Termination Type===
This determines what to do when approaching the destination point given in the motion instruction.
Line 159 ⟶ 168:
** CNT0 is very similar to FINE but is computationally distinct, so it may result in a slight difference.
===Motion Modification===
[[File:Motion Modify Menu.png|thumb|
The empty space all the way to the right on a motion instruction line brings up the [CHOICE] option. Pressing this softkey will bring up a motion modification menu, letting you add additional changes and special options to your motion instruction.
| |||