Motion Instructions: Difference between revisions
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===Motion Type:===
C (Circular) - Starting point, intermediate point, endpoint
L (Linear) – Move from one point to another
J (Joint) – Move individual joints of robot arm, fastest way to move.
===Position Type: ===
P – (position) direct position in space recorded by jogging to point and setting as position value
PR (position register) – corresponds to predefined location where position can be found. Contains location of the information, not information itself.
P[n] = (x,y,z,w,p,r,configuration) – configuration describes axis condition at destination
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)
===Termination Type:===
Fine – Robot will stop at each point
Continuous (CNT) – Robot will decelerate as it approaches the point and round off the corner as it goes from point to point as a percentage. Number afterwards is how much deceleration is ignored.
===Motion Type:===
ACC Acceleration
COORD
SKIP,lbl[]
Offset
Offset,PR[]
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