Motion Instructions

Motion Instructions direct the robot to perform motion tasks.

They detail where the robot should move, how it should calculate the path, where it should move, how fast, and where it should end up.

Line#	Motion Type	Position Type	Position Number	Speed	Termination Type	Motion Options
1	J	P	[1]	50%	Fine	ACC100
2	L	PR	[2]	100%	CNT50	EV
3	C	P	[3]	sec	Fine	Offset
...	PR	[2]	Deg/sec	Fine	Offset,PR[]
4	cm/min	CNT37	Offset,PR[]
5	R[]

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 Modification:

• 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)
• COORD
• SKIP,lbl[]
• Offset
• 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.