Circular Arc Move

Description

The Circular Arc Move program enables you to instruct the robot to move in a circular motion, while keeping the tool orientation either fixed or unconstrained.

 

To access Circular Arc Move program

  1. Go to the basic command screen. See Basic Command Nodes.

  2. Tap the Circular Arc Move icon in the Commands screen.

    A node and two child nodes are inserted into the program tree.

    • First child node = Circular Arc Move: Via_Point

    • Second child node = Circular Arc Move: End_point

    The node has three editable fields and a More button for advanced options.
 

The three editable fields are:

  • Name

    A name for referencing the node.

  • Speed

    The robot speed during the move.

  • Acceleration

    The robot acceleration during the move.

  1. Tap the Name field.

    Three tabs appear:

    • Value

    • Variable

    • Expression

  2. Tap the tab you want to input the name for the referencing.

  3. Tap Confirm.

  4. Tap the Speed field.

    Three tabs appear:

    • Value

    • Variable

    • Expression

  5. Tap the tab you want to input the speed for the robot.

  6. Tap Confirm.

  7. Tap the Acceleration field.

    Three tabs appear:

    • Value

    • Variable

    • Expression

  8. Tap the tab you want to input the acceleration of the robot.

  9. Tap Confirm.
To access More settings

  1. Tap the More button.

    The More settings screen appears.

    On the left side of the screen, you see four advanced options:

    • Orientation

    • Movement

    • Reference

    • Transform

To use Orientation

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

    On the right side of the screen, two buttons are provided:

    • Fixed

    • Unconstrained

  2. Tap Fixed when you want the start point only to be used to define the tool orientation.

  3. Tap Unconstrained when you want the start point to transform to the endpoint to define tool orientation.

  4. Tap Confirm.

    Note: A diagram shows the difference between the two endpoints when you choose unconstrained.

 

To use Movement

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

    Two fields appear:

    • Speed

    • Acceleration

  2. Tap the Speed field.

    Three tabs appear:

    • Value

    • Variable

    • Expression

  3. Tap the tab you want to input the speed of the robot.

  4. Tap Confirm.

  5. Tap the Acceleration field.

    Three tabs appear:

    • Value

    • Variable

    • Expression

  6. Tap the tab you want to input the acceleration of the robot.

  7. Tap Confirm.

To use Reference

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

    Tap the Frame field to choose:

    • world

    • base

    • flange

    • tcp

  2. Tap the TCP field to choose:

    • Tool_flange

    • Active_TCP

  3. In the Position column, tap X, Y, Z fields to enter the value.

  4. In the Rotation column, tap RX, RY, RZ fields to enter the value.

  5. Tap Confirm.

To use Transform

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

  2. Tap the Pose field to specify how the position needs to be transformed.

  3. Tap Confirm.

To use Circular Arc Move: Via_point

  1. Tap the Circular Arc Move: Via_Point node.

    Two fields appear:

    • Name

    • Teach Via Point

  2. Tap the Name field.

    Three tabs appear:

    • Value

    • Variable

    • Expression

  3. Tap the tab you want to input the name.

  4. Tap Confirm.

  5. Tap Teach Via Point.

    A new screen of the robot interface appears. (See Move To for details of use.)

     

To use Circular Arc Move: End_Point

  1. Tap the Circular Arc Move: End_Point node.

    Three fields appear:

    • Name

    • Blend

    • Teach Via Point

  2. Tap the Name field.

    Three tabs appear:

    • Value

    • Variable

    • Expression

  3. Tap the tab you want to input the name.

  4. Tap Confirm.

  5. Tap the Blend field.

    Three tabs appear:

    • Value

    • Variable

    • Expression

  6. Tap the tab you want to input the blend.

  7. Tap Confirm.

  8. Tap Teach End Point.

    A new screen of the robot interface appears. (See Move To for details of use.)