86
Instruction Instruction
：
The
L
instruction takes the current position of the robot as the starting point and controls it to do
[
Linear Motion
] within the Cartesian space. It is often used in occasions that requires trajectory
control. The control object of this instruction can only be [
Robot Group
].
Instruction sentence:
Instruction Parameters
（
optional
）：
L instructions include a series optional movement paramenters
，
——VEL
（
speed
）
,CNT
（
smooth
transition
）
,ACC
（
speedup ratio
）
,DEC
（
reduction ratio
）
, VORT
（
Attitude speed
）
etc. After the
parameters are set, it is only valid for the current motion. After the motion instruction ends, it will
restore to the default value. If no parameter is set, it will run based on the default value of each
parameter.
Operation Steps
1. Select the previous line of the instruction line which needs to be inserted.
2. Select instruction→motion instruction→J or L.
3. Enter the point name.
4. Configure the parameters of the instruction (if no parameters are set, it will adopt the default
motion parameters).
5. Manually move the robot to the target posture or position.
6. Select the point input box, click "Record Joint" or "Record Cartesian" (J instruction can only
choose to record joint), the recorded coordinates will be displayed on the upper right of the
instruction modification box.
7. Click the "OK" in the operation column to add the J instruction/L instruction.
Program example
LBL[1]
J P[1] VEL=100 ACC=60 DEC=60
L P[2] VEL=800 ACC=100 DEC=100
GOTO LBL[1]
19.2.1.2 C instruction
Description
The
C
instruction takes the current position as the starting point, CIRCLEPOINT as the intermediate
point, and TARGETPOINT as the end point. It controls the robot to perform arc trajectory
L [target point] Optional Properties
Example
：
L P[1] VEL=50 ACC=100 DEC=100 VROT=50
L P[2]