Danaher Motion
06/2005
Appendix B
M-SS-005-03 Rev
E
187
Motion Commands
Some motion commands use point nodal parameters when applied on groups. For example:
CIRCLE
,
MOVE
and
MOVES
.
Some nodal parameters can be assigned with both point types (LOCATION and JOINT), like
CIRCLECENTER
,
CIRCLEPOINT
and the target positions of
MOVE
and
MOVES
. Other
nodal parameters can accept only location points, like TOOL, BASE, etc. Assign all nodal
parameters with points compatible in robot type or size to the group.
Common Shared SCARA As Group Axnm = A1 Axnm = A2 Axnm = A3 Axnm = A4 Model = 4
Common Shared JointXYZ As Joint Of XYZ
MOVE SCARA JointXYZ
Æ
Error – robot type mismatch
CIRCLE SCARA Angle = 180 CircleCenter = #{350, 500, -80}
Æ
Error – size mismatch
MOVES SCARA #{-22, 503.8, -8.3, 149} Base = SCARA.Dest_Joint
Æ
Error – type mismatch
Analog Behavior
Because a point is a new data type, it has all the functionality of the other data types like
saving the point to a file, watching points, deleting points.
Point As An Expression
With the new point data type, points properties can be stored as a point or can be compared
as a point. For example:
Dim A as Joint of XYZR
A = {1,2,3,4}
A = G1.Pcmd
A = G2.Pcmd
Æ
returns a translation error if G2 is not of XYZR type.
F
UNCTIONS
The following functions are defined:
<
XYZR location
> = TOCart (<
group
>, <
XYZR JOINT
>)
<
XYZR Joint
> = ToJoint (<
group
>, <
XYZR LOCATION
>, <
arm-flag:integer
>)
<
double
> distl(<
location
>,<
location
>) Distance between points (length).
<
double
> distr(<
location
>,<
location
>) Distance between points (angle).
SAVE
/
LOAD
Each global variable can be stored in a file. The variable and its value are stored in same
syntax as it is defined in the program. You can select a data-type to be stored. If a data-type
is selected, the SAVE command stores only global variables of that data type. If file with
same name already exist its extension is renamed to *.bak and new file is created. Loading
the file overwrites the values of the saved global variables. You can save all the points
related to some type of robot. For example:
SAVE file = "Myfile.prg" type = location robottype = xyzr
SAVE file = "Myfile.prg" type = all
LOAD Myfile.prg
