Rainbow Robotics RB Series, User Manual

Page: 394 / 440

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL
© RAINBOW ROBOTICS Inc. All rights reserved.
394
Command movecircle(axis mode)
Script
movecircle axis orientation_option spd, acc, rot_angle, cx, cy,
cz, ax, ay, az
Descript.
This command generates the circular motion of TCP using
axes of rotation defined.
Three options determining the orientation of TCP in drawing
a circle are available in orientation_option.
With ‘intended’ or ‘constant’, TCP keeps the current
orientation during the circular motion.
With ‘radial’, the TCP orientation changes in a way of the
tangent direction to the center of the circle.
The input values for cx, cy, cz are used to define the position
of axes of rotation (the center position of the circle). It is a
number in mm.
The values for ax, ay, az are used to define the orientation of
axes of rotation. It represents an unit vector.
The input value for rot_angle is used to define the amount of
angle to rotate. It is a number in degree.
The input values for spd and acc are used to define velocity
and acceleration respctively. The spd and acc should be a
number between 0 and 1. Smaller number represents slower.
When the input value is -1, the joint moves with the default
value.
This command will be ignored if the previous command is
not finished yet.
Example
“movecircle axis constant 0.4, 0.1, 180.0, 200.0, 200.0, 200.0,
1.0, 0.0, 0.0”
“movecircle axis radial 0.4, 0.1, 180.0, 200.0, 200.0, 200.0, 1.0,
0.0, 0.0”
4) blend_jnt
Command blend_jnt
Script blend_jnt clear_pt
Descript.
This command deletes all desired joint values previously
defined in the joint blending sequence.
This command should be used at the beginning of blend_jnt
programming.
Example “blend_jnt clear_pt”