Move pane

Description

The different feature options in the Move pane allow you to add detail to a Move and the attached waypoint/s.

Use these options to customize your program

 

See the Move pane features below:

 

Move: Set TCP

Use this setting, if you need to change TCP during the robot program execution. This is useful if you need to manipulate different objects in the robot program.

The way the robot moves is adjusted depending on which TCP is set as an active TCP.

Ignore Active TCP allows this movement to be adjusted in relation to the Tool Flange.
Set the TCP in a Move

To set the TCP in a Move

  1. Access the Program Tab screen to set the TCP used for waypoints.

  2. Under Command, in the drop down menu on the right select the Move type.

  3. Under Move, select an option in the Set TCP drop down menu.

  4. Select Use active TCP or select a user defined TCP.
    You can also choose Ignore Active TCP.

Move: Feature

Feature is an option in the Move pane. Use Feature between waypoints for the program to remember the tool coordinates.

This is useful when you are setting the waypoints (see Features).

 

 

See the different Features below.

Feature

You can use Feature in the following circumstances:

  • Feature has no effect on relative waypoints. The relative movement is always performed with respect to orientation of the Base.

  • When the robot arm moves to a variable waypoint, the Tool Center Point (TCP) is calculated as the coordinates of the variable in the space of the selected feature. Therefore, the robot arm movement for a variable waypoint changes if another feature is selected.

  • You can change a feature’s position while the program is running by assigning a pose to its corresponding variable.

    14.1:  Speed profile for a motion. The curve is divided into three segments: acceleration, cruise and deceleration. The level of the cruise phase is given by the speed setting of the motion, while the steepness of the acceleration and deceleration phases is given by the acceleration parameter.

Move: Use joint angles

You can use the Use joint angles as an alternative to the 3D pose when you are using MoveJ to define a waypoint.

 

Waypoints defined using the Use joint angle are not changed when a program is moved between robots.

This is useful if you are installing your program in a new robot.

 

Using Use joint angles makes the TCP option unavailable.

Move: Shared Parameters in a Move Command

 

The shared parameters in the bottom right corner of the Move screen apply to the movement from the previous position of the robot arm to the first waypoint under the command, and from there to each of the following waypoints.

The Move command settings do not apply to the path going from the last waypoint under that Move command.