Rainbow Robotics RB Series, User Manual

Page: 105 / 440

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL
© RAINBOW ROBOTICS Inc. All rights reserved.
105
②
Linear Movement Commands
The Linear Movement Commands generate movement by setting the position of
the TCP in the Cartesian coordinate system. These commands use Cartesian
coordinates (x,y,z coordinate values and rotations) as the target values for the
movement.
▷ MoveL (Move Linear) :
Moves the TCP linearly (using x, y, and z) from the current position to the
position contained within the target Point (in mm) and will also rotate the TCP
(using Rx, Ry, and Rz) based on the configuration contained within the target
Point (in degrees).
▷ MoveLB (Move Linear Blend ) :
Starting from the initial arm configuration, the arm will move smoothly between
each Point without stopping by using the Move L method. This method will
generate an arc-shaped path.
For each Point, the user must specify a Blend Radius. This Blend Radius
determines how far away the TCP will be from the Point when moving along the
path.
If the Blend Radius is set to 0, the path will be the same as only using the Move
L method.
The Blend Radius has a maximum value, which is half of the distance between
the initial Point and the destination Point. This ensures that the arm will
maintain a blended movement.
Move LB has two modes, Constant and Intended.
●
Constant mode maintains the first Point’s TCP configuration (Rx, Ry, and Rz)
during movement, only changing the tool’s position (x, y, and z) through the
movements.
● Intended mode changes both the configuration and position of the TCP as
the arm moves.