Direction

Description

The Direction command enables you to make the robot move in a specific direction.

 

To access Direction program

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

  2. Tap the Direction icon in the Commands screen.

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

    • Name

    • Frame

    • Axis

  3. Tap the Name field.

  4. Enter the Value name in the tab.

  5. Tap Confirm.
 

  1. Tap the Frame field.

    Four choices are provided:

    • world

    • base

    • flange

    • tcp

  2. Tap your preferred frame choice.

  3. Tap the Axis field.

    You can see the six axes:

    • X+

    • X-

    • Z+

    • Z-

    • Y+

    • Y-

  4. Tap your chosen axis.

 

To use the More options

Tap the More button.

A new screen appears containing two advanced settings:

  • Movement

  • Until

 
To use Movement setting

  1. On the left side of the screen, tap Movement.

    Three fields appear in the main screen:

    • Motion

    • Speed

    • Acceleration

    Note: The Motion field is inactive.

     

  2. Tap the Speed field.

    Three tabs to input the speed are available:

    • Value

    • Variable

    • Expression

    Note: The Variable tab is inactive.

  3. Tap Value and enter the speed you prefer for the robot's movement.

  4. Tap Confirm.

  5. Tap the Expression tab and enter the value.

  6. Tap Confirm.

 

  1. Tap the Acceleration field.

    Three tabs to input the speed are available:

    • Value

    • Variable

    • Expression

    Note: the Variable tab is inactive.

  2. Tap Value and enter the acceleration you prefer for the robot's movement.

  3. Tap Confirm.

  4. Tap the Expression tab and enter the value.

  5. Tap Confirm.
To use Until setting

On the left side of the screen, tap Until.

An Until field appears in the main screen, giving you three selections:

  • Expression

  • Contact

  • Distance

 
To access Expression

  1. Tap Expression.

    Three functions are added:

    • Expression field

    • Module Select drop-down field

    • Add until button

  2. Tap the Expression field and enter your preferred expression.

  3. Tap Confirm.

  4. Tap the Module field.

    Two selections are available:

    • Global Functions

    • Module

  5. Tap either Global Functions or Module.

    An additional Function field appears to the right.

  6. Tap Add Until button if there is a need for you to use further Until function.

  7. Tap Confirm.
To access Contact

  1. Tap Contact.

    Five functions are added:

    • Checkbox for Move to contact point

    • Retract from contact field

    • Decelerate field

    • Module Select field

    • Add Until button

  2. Check the box of Move to contact point.

  3. Tap the Retract from contact field.

    Three tabs to input the speed are available:

    • Value

    • Variable

    • Expression

    Note: The Variable tab is inactive.

  4. Tap Value and enter the retraction value you prefer for the robot's movement.

  5. Tap Confirm.

  6. Tap the Expression tab and enter the value.

  7. Tap Confirm.
    Note: When you uncheck the Move to contact point box, the Retract from contact field becomes inactive.
 

  1. Tap the Decelerate field.

    Three tabs to input the speed are available:

    • Value

    • Variable

    • Expression

    Note: The Variable tab is inactive.

  2. Tap Value and enter the deceleration value you prefer for the robot's movement.

  3. Tap Confirm.

  4. Tap the Expression tab and enter the value.

  5. Tap Confirm.

  6. Tap the Module Select field.

    Two selections are available:

    • Global Functions

    • Module

  7. Tap either Global Functions or Module.

    An additional Function field appears to the right.

  8. Tap Add Until button if there is a need for you to use further Until function.

  9. Tap Confirm.

 
To access Distance

  1. Tap Distance.

    Four functions are added:

    • Distance field

    • Module field

    • Function Select field

    • Add Until button

  2. Tap the Distance field.

    Three tabs to input the speed are available:

    • Value

    • Variable

    • Expression

    Note: The Variable tab is inactive.

  3. Tap Value and enter the distance value you prefer for the robot's movement.

  4. Tap Confirm.

  5. Tap the Expression tab and enter the value.

  6. Tap Confirm.

  7. Tap either Global Functions or Module.

    An additional Function field appears to the right.

  8. Tap Add Until button if there is a need for you to use further Until function.

  9. Tap Confirm.