Joint Robot Manipulator - Software Operation Manual
Advantech LNC Technology Co., Ltd.
22
point – linear)
(Starting point – transition
point – transition point –
linear)
arc transition point.
Setting 0 means
using the default
value. If it is larger
than the maximum
possible radius, it
means using the
maximum radius.
to the end point according to the
distance ratio.
Three-point arc
(Starting point – midpoint of
the arc – linear)
(Starting point – midpoint of
the arc–arc end point)
Three points form a
spatial plane
If the end point uses
the arc endpoint
command, you can
additionally specify
the angle that the arc
will around in total.
The midpoint of the arc can specify
the way the attitude changes.
1.
Three-point linearity: The starting
point, the midpoint, and the end
point are divided into two straight
lines to change the attitude.
2.
Two-point linearity: Ignore the
midpoint's attitude and change the
attitude by the arc length ratio.
3.
Three-point arc: The starting
point, the midpoint, and the end
point are divided into two arcs,
and the attitude is changed along
with the arc plane.
4.
Two-point arc: Ignore the
midpoint's attitude and change the
attitude around the arc plane by
the length ratio of the arc.
5.
Fixed starting point: fixedly use
the starting point of the attitude,
and the attitude of midpoint and
the endpoint are ignored
6.
Starting point AB: The B value of
the starting point is fixedly used.
The A value changes with the
rounding angle, and A+C is the
fixed value.
7.
Starting point ABC: The BC value
of starting point is fixedly used, A
value changes with rounding
