Process Move

Descripción

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, Edit Point button, and ellipsis icon.

    These are the three fields:

    • Motion Profile

    • Name

    • Blend

 

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

    Custom motion profile enables you to define movement data in Joint Move and Linear Move nodes.

    Process motion profile is a predefined motion in Joint Move and Linear Move nodes.

  2. Tap the Name field.

    Three tabs appear:

    • Value

    • Variable

    • Expresión

  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.

  5. Tap the Blend field.

    Three tabs appear:

    • Value

    • Variable

    • Expresión

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

 
Etiquetas de perfil de movimiento en nodos de movimiento

Todos los nodos de comando relacionados con movimiento en el árbol de programa muestran el Perfil de movimiento asociado a cada nodo. Esta función permite a los usuarios ver el perfil de movimiento seleccionado en un nodo Mover. Esta función se implementa en los siguientes nodos de comando:

Los nodos de movimiento con perfil de movimiento personalizado mostrarán los valores de velocidad y aceleración en lugar del perfil de movimiento.

 

 

To use More Option

  1. Tap the ellipsis icon.

    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.