Move To

Description

The Move to command allows the robot to move from different points to a given location.

 
To access Move to command

  1. Go to the main program screen. See Command Nodes.

  2. Tap the Move to icon in the Commands toolbox.

    A node is inserted into the program tree. The node has three editable fields and a More button for advanced options. The three fields are:

    • Move type

    • Name

    • Edit Point

 

  1. Tap the Move type field and choose either Joint or Linear.

    Joint. The robot makes movements that are calculated in the arm joint space.

    The joints are controlled to finish their movements at the same time, resulting in a curved path for the tool.

    Linear. The robot moves the tool center point (TCP) in linear path between waypoints.

    Each joint performs a more complicated motion to keep the tool on a straight line path.

  2. Tap the Name field.

    Three tabs appear:

    • Value

    • Variable

    • Expression

    See Value-Variable-Expression Tabs

  3. Input the data in the Value and Expression tabs.

  4. Tap the Variable tab and the Available variables in the Expression field.

  5. Choose grid_iterator.

  6. Tap Confirm.

    Note: When grid_iterator is chosen as a variable, the Edit Point tab disappears.

 

To use Edit Point field

  1. Tap the Edit Point field.

    A new screen appears with the robot arm graphical interface screen.

    On the right side of the screen, you can see four related tabs:

    • Move

    • Joints

    • TCP

    • Smart Skills

 
To use Move

  1. Tap the Move tab.

  2. Tap the Relative To field to choose the robot position/part.

    Changes in coordinates are seen in the robot arm graphical interface screen.
 

  1. Use the plus-minus button in the Translate and Rotate fields to reach your desired position or movement.

 

To use Joints

  1. Tap Joints tab.
 

You can see the three options to input the values for the six parts of the robot arm:

  • Base

  • Shoulder

  • Elbow

  • Wrist 1

  • Wrist 2

  • Wrist 3

  1. Rotate clockwise or counterclockwise the control ring of each part to reach your joint value.

  2. Tap the rectangular bar for each robot arm part.

  3. Type and enter the value to edit and tap Save.

  4. You can also use the plus-minus button to reach the joint value.

To use TCP

  1. Tap TCP tab.

     

 

  1. Inside the Relative to field, choose your relative point from the three options.

  2. Tap the Active TCP field.

  3. Enter the value in mm in the fields of X, Y, Z and in degrees in RX, RY, RZ fields.

  4. Tap Confirm.

To use Smart Skills

  1. Tap the Smart Skills tab.
 

    Six smart skills functionalities are given for you to move the robot:

    • Align to plane

    • Align Z to nearest axis

    • Center

    • Freedrive

    • Move into contact

    • Retract

  1. Tap the Teach mode button below the Smart Skills icons.

    A blinking red light at top right turns on, signifying Teaching.

  2. Select a smart skill.

    A corresponding movement is shown on the robot arm screen.

  3. Tap Stop Teach mode.

  4. To exit the robot arm interface screen, tap X above TCP Offset located in the main screen, or tap Cancel found at the right side of the screen.

 

To use More option

  1. Tap the More button.

    More settings screen appears.

  2. Four more settings appear:

    • Movement

    • Reference

    • Transform

    • Blend
To use Movement setting

  1. Tap Movement on the left side of the screen.

  2. Tap the Motion Value field.

  3. Choose either OptiMoveor Classic.

  4. On the Speed tab, enter the percentage of your preferred speed and tap Confirm

  5. On the Acceleration tab, enter the percentage of your preferred acceleration and tap Confirm.

    See OptiMove to use its setting.
To use Reference setting

  1. Tap Reference on the left side of the screen.

    Reference is the frame which the node is relative to.

  2. Tap the Frame field.

    Four choices are available:

    • world

    • base

    • flange

    • tcp

  3. Choose your preferred frame.

  4. On the TCP field to the right, choose either Active_TCP or Tool_flange.

  5. In the Position column, tap the X, Y, Z tabs.

  6. Enter your preferred value in mm for each tab and Confirm

  7. In the Rotation column, tap the RX, RY, RZ tabs.

  8. Enter your preferred value in degrees for each tab and Confirm

 
To use Transform setting

  1. Tap Transform on the left side of the screen.

    Transform allows you to specify a pose offset to the Move to node.

  2. Tap the Pose field.

  3. Choose your preferred pose and tap Confirm.

 
To use Blend setting

  1. Tap Blend on the left side of the screen.

    Blending enables the robot to smoothly transition between two trajectories, without stopping at the waypoint between them.

  2. Tap the Blend type field.

  3. Choose either Stop at this point or Blend.

    If Blend is selected, you can specify a blend radius for how smoothly to transition in the Radius field.

  4. Input the value, variable, and expression of the radius and tap Confirm.

    See Value-Variable-Expression Tabs.