Process Move

描述

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

    • 表达式

  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

    • 表达式

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

 
移动节点上的运动配置文件标签

程序树中所有与移动相关的命令节点都会显示与每个节点关联的运动配置文件。 利用此功能，用户可以查看移动节点上的所选运动配置文件。 此功能在以下命令节点实现：

带有自定义运动配置文件的移动节点将显示速度和加速度值，而不显示运动配置文件。

 

 

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.