Process Move

Description

The Process Move command enables you to program a linear movement with constant speed through a number of points. You must set blend radius to make sure that the robot moves at a constant speed between each move node. You can specify a reference frame and a transform pose.

 
To access Process Move command

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

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

     

    A node is inserted into the program tree. The node has three editable fields and two buttons.

    These are the three fields:

    • Motion Profile

    • Name

    • Blend

    These are the two buttons:

    • Edit Point

    • More

 

  1. In the Motion Profile field, you can choose either Custom or Process.

    Custom motion profile enables you to define movement data in Move to node.

    Process motion profile is a predefined motion in Move to node.

  2. Tap the Name field.

    Three tabs appear:

    • Value

    • Variable

    • Expression

  3. Enter data in the Value, Variable, and Expression tabs, and tap Confirm. See Value-Variable-Expression Tabs.

  4. Tap Edit Point.

    A new screen appears with the robot arm interface. (SeeMove To command.)

  5. Tap the Blend field.

    Three tabs appear:

    • Value

    • Variable

    • Expression

  6. Enter data in the Value, Variable, and Expression tabs, and tap Confirm. See Value-Variable-Expression Tabs.

 
Motion Profile labels on Move Nodes

All Move-related command nodes in the program tree display the Motion Profile associated with each node. This feature enables users to see the selected Motion Profile on a Move node. This feature is implemented on the following command nodes:

Move nodes with Custom motion profile will display the values for the speed and acceleration instead of Motion profile.

 

 

To use More Option

  1. Tap More button.

    More settings screen appears with three settings:

    • Movement

    • Reference

    • Transform

  2. Tap the Movement setting on the left side.

    A Motion Profile field with selections Custom and Process is on the right side.

  3. If Custom is selected, a Speed field and Acceleration field appears.

  4. Tap the Speed field, and the Value, Variable, and Expression tabs pop up.

  5. Enter data in each tab, and tap Confirm. See Value-Variable-Expression Tabs.

  6. Tap the Acceleration field, and the Value, Variable, and Expression tabs pop up.

  7. Enter data in each tab, and tap Confirm. See Value-Variable-Expression Tabs.

  8. Choose Process motion profile and tap Confirm.

  9. Tap the Reference setting.

  10. Choose either Frame or Set TCP field.

  11. In the Position column, tap the X, Y, Z tab and enter your chosen value for the robot, and Confirm.

  12. In the Rotation column, tap the RX, RY, RZ tab and enter your chosen value for the robot, and Confirm.

  13. In the Transform setting, tap the Pose field and Confirm.