Motion Instructions: Difference between revisions
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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. It does not need to maintain a specific path, therefore it is the quickest motion type to reach a position, and results in the lowest amount of wear on the robot's joints and gears. Programs should ideally begin with a joint move to a known starting point. Do not use joint when your path may be obstructed by objects or fixtures. ▼
▲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. It does not need to maintain a specific path, therefore it is the quickest motion type to reach a position, and results in the lowest amount of wear on the robot's joints and gears. Programs should ideally 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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