Joint Move

描述

The Joint Move works in a similar way to Move to command, but it supports Motion Profiles. The command creates a movement from point A to point B that is optimal for the robot. 该移动路径可能不是 A 和 B 之间的直线，但对于关节的起始位置和关节的结束位置来说是最优的。 Joint Move makes movements that are calculated in the robot arm joint space. 与此同时，关节受控完成移动。 这种移动类型会让工具沿着一条曲线路径前进。

 

To access Joint Move command

  1. Go to the main program screen. See Command Nodes.

  2. Tap the Joint Move icon in the Commands toolbox.

     

     

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

    • Motion Profile

    • Name

    • Edit Point

     

     

 

  1. Tap the Motion Profile field and select the pertinent from the three choices are available:

    • 自定义

    • Joint_fast

    • Joint_slow

  2. Tap the Name field, and three tabs appear:

    • Value

    • Variable

    • 表达式

  3. Enter the 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. Follow the steps in the section “To use Edit Point field” in the Move to command. See Move To command.

  6. Tap More button.

    More settings screen appears with four settings:

    • Movement

    • Reference

    • Transform

    • Blend

 
Movement setting

  1. Tap the Movement setting on the left side. A Motion Profile field with the following choices appears on the right side. Joint_slow is the default.

    • 自定义

    • Joint_fast

    • Joint_slow

  2. If Custom is selected, three more fields appear:

    • Speed Type

    • 速度

    • Acceleration

  3. Choose either OptiMove or Classic when you tap Speed Type.

  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. When Joint_fast and Joint_slow are selected, the OptiMove speed and acceleration are shown.

 
Reference setting

  1. Tap the Reference setting.

  2. Choose either Frame or TCP field.

    In the Frame field, four choices are available:

    • world

    • base

    • flange

    • tcp

    In the TCP field, two choices are available:

    • Active_TCP

    • Tool_flange

  3. In the Position column, tap the X, Y, Z tabs and enter your chosen value for the robot, and Confirm.

  4. In the Rotation column, tap the RX, RY, RZ tabs and enter your chosen value for the robot, and Confirm.

 
Transform setting

  1. Tap the Transform setting.

  2. Tap the Pose field and Confirm.

 

Blend setting

  1. Tap the Blend setting.

    A Blend type field appears with two options:

    • 在此点停止

    • Blend

  2. When you choose Stop at this point, no further action is needed but only Confirm.

  3. Tap Blend, and a Radius field is inserted.

  4. The Value, Variable, and Expression tabs pop up when you tap the Radius field.

  5. Enter data in each tab, and tap Confirm. See Value-Variable-Expression Tabs.

  6. To finish, tap Confirm in the More settings screen.