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Line 1: This page details a Lab experiment intended to demonstrate the use of FANUC's HandlingTool motion instructions. For details on motion instruction syntax, see the information page [[Motion Instructions]]. '''What are Motion Instructions?''' The robot is simply a computer that can interact with the physical world. For it to perform tasks as we desire them, we need to tell the robot the processes involved in doing so. The FANUC motion instructions involve teaching the destination point(s), the type of motion to reach it, the speed it will move, the termination type, and any other special actions or considerations to take in the process of moving to the destination. Line 7 ⟶ 9: '''Motion Instructions:''' {\| class="wikitable" \|'''[[Motion Instructions#Motion Type\|Motion Type]]''' \|'''Path Taken''' \|'''Usage:''' \|- \|'''Linear''' \|'''A straight line from the current position to the destination''' \|'''Whenever the path taken is required to be straight and without deviation''' \|- \|'''Joint''' \|'''The most efficient method of reconfiguring the joints to reach the destination''' \|'''Since Joint moves are faster, ~~joint~~this motion type should be used whenever it doesn’t matter what path it takes to reach the destination. The robot will still consider DCS zones, linear speed settings, and operational limits.''' \|- \|'''Circular''' \|'''A circular path that begins at the current position, reaches the first point taught, and continues to the second point taught. These are known as midpoint and endpoint.''' \|'''Whenever the path needs to be a radius around an arbitrary center. The path is calculated much like a linear move in that it must follow the curved line made by the circle.''' \|} '''Prerequisite Knowledge:''' * [[Safety]] [[Teach Pendant\|Teach Pendant Navigation]] [[Jogging]] and Clearing Alarms '''Required Preliminary Setup:''' * A Pointer Tool with the Active Tool Frame pre-taught to tip. (May use tool from [[Tool Frame Lab]]) * Medium-Sized Box * Paper at Back of Lab * Robot at [[Data#Home Position\|HOME Position]] == Linear, Joint, and Circular == Line 42 ⟶ 44: Start by opening the Select screen with the '''[[SELECT]]''' button on the keypad. Line 66 ⟶ 68: \|- \|[[File:Blank Program.png\|thumb]] \|Hit the '''[[EDIT]]''' softkey (not the physical key) to finish the creation of the new program file. This will open the blank file that is your new program. Notice the name of your program is at the top, and there’s one instruction in your program, the [End]. End will always be at the end of your program, to tell the controller it is finished. \|- Line 112 ⟶ 114: Jog the robot to the second point on your lab sheet, make sure your second motion instruction is selected (all the way to the left, the line number) and hit '''TOUCHUP.''' Set the termination types to '''[[Motion Instructions#Termination Type\|FINE]]''', if not already selected, by cursoring to the termination type and hitting softkey '''CHOICE.''' Repeat this process, adding a linear point for every dot on your lab sheet up until you reach the beginning of the half circle. Line 124 ⟶ 126: \|[[File:Changing Motion Type.png\|thumb]] \|Select the L in your 6<sup>th</sup> instruction line and press the softkey '''CHOICE'''. There are 4 [[Motion Instructions#Motion Type\|motion ~~options~~types]] available on our robots. Select the third option, '''Circular'''. \|- \|[[File:Circular first point.png\|thumb]]