Move To

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

2. Tap the Move to 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 fields are:

   • Move type

   • Name

   • Edit Point
     
     

   • 

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

4. Tap the Name field.

   Three tabs appear:

   • Value

   • Variable

   • Expression
     

   

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

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

7. Choose grid_iterator.

8. Tap Confirm.

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

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

1. Tap 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.

3. Tap the minus and plus button in the Translate and Rotate fields to reach your desired position or movement.

4. Tap Save.

1. Tap Joints tab.
   

   

2. 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

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

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

5. Type and enter the value to edit.

6. Tap Save.

7. You can also tap the plus and minus button to reach the joint value.

1. Tap TCP tab.
   

    

2. Tap the Relative to field.

3. Choose your relative point from the three options.

4. Tap the Active TCP field.

5. Tap the fields of X, Y, Z and RX, RY, RZ.

6. Type and enter the value to edit.

7. Tap Save.

1. Tap the Smart Skills tab.
   

   

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

• Align to plane

• Align Z to nearest axis

• Center

• Freedrive

• Move into contact

• Retract
  

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

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

3. Tap a smart skill.

   A corresponding movement is shown on the robot arm screen.

4. Tap Stop Teach mode.

5. Tap Save.

6. 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.

1. Tap the More button.

   More settings screen appears.
   

   

2. Four more settings appear:

   • Movement

   • Reference

   • Transform

   • Blend

A self-definition of its function is given below its name.

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

2. Tap the Motion Value field.

3. Choose either OptiMoveor Classic.

4. Tap the Speed tab.

5. Enter the percentage of your preferred speed.

6. Tap Confirm.

7. Tap the Acceleration tab.

8. Enter the percentage of your preferred acceleration.

9. Tap Confirm.

A self-definition of its function is given below its name.

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

2. Tap the Frame field.

   The given choices are:

   • world

   • base

   • flange

   • tcp

3. Tap your preferred choice.

4. Tap the TCP field to the right.

5. Choose either Active_TCP or Tool_flange.

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

7. Enter your preferred value in mm for each tab.

8. Tap Confirm.

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

10. Enter your preferred value in degrees for each tab.

11. Tap Confirm.

A self-definition of its function is given below its name.

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

2. Tap the Pose field.

3. Choose your preferred pose.

4. Tap Confirm.

A self-definition of its function is given below its name.

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

2. Tap the Blend type field.

3. Choose either Stop at this point or Blend.

4. Tap Confirm.