100
Figure 4- 4 Relative point
The relative point is used in a situation where a certain displacement is
required based on a corresponding point of the movement instruction on the
robot/an absolute point/variable point offset. The displacement can be a distance
in a single direction, or a superposition of displacements in multiple directions,
and can also teach a segment to offset.
1)
Direct input (relative movement)
As shown in Figure 4-5, you can directly enter the coordinate value /
joint angle.
①
- Directly enter
coordinate values
②
- Directly input joint
angle
Figure 4- 5 Two forms of direct input
Regardless of whether the coordinate value or the joint angle is input, one or
more of the six values are selected according to the offset requirement, and not
every value is required to be input.
For example, as shown in Figure 4-6, in the actual pickup and placement
process, it is necessary to set a transition point above the target placement
position. At this time, we can set a path command as absolute point, control the
Summary of Contents for myCobot Pro 600
Page 1: ...1 Elephant Robotics User Manual myCobot Pro 600 Language English Compiled in 2022 3 28...
Page 27: ...27 Fig 2 9 State of Being Not Powered On...
Page 28: ...28 Fig 2 10 In the Process of Being Powered On Fig 2 11 Completion of Being Powered On...
Page 35: ...35...
Page 37: ...37 3 2 Product Appearance and Composition Fig 3 1 Product Composition...
Page 38: ...38 3 3 Working Principles and Specifications 3 3 1 Working Space...
Page 39: ...39 3 3 2 Coordinate System DH parameters and coordinate system Fig 3 2 DH Coordinate System...
Page 40: ...40 Fig 3 2 DH Coordinate Parameter...
Page 45: ...45 Fig 3 10 Size Parameters of End Mounting Hole...
Page 75: ...75 Figure 2 25 Language and unit 6 Time Figure 2 26 shows the time setting page...
Page 88: ...88 Figure 3 13 Network settings...
Page 95: ...95 Figure 3 21 Basic Settings...
Page 113: ...113 Figure 4 17 Subprogram Figure 4 18 Display subroutine...
Page 135: ...135 Fig 5 88 Connect to RoboFlow Fig 5 89 Connected Successfully...