Elephant Robotics myCobot Pro 600, Руководство пользователя

Страница: 42 / 136

42
3.3.3 Moving Functions
The movement modes of the robot arm include MoveJ, MoveL, MoveC and
Jog modes
3.3.3.1 MoveJ
The joint movement moves from point A to point B, and each joint moves
from the joint Angle corresponding to point A to the joint Angle corresponding to
point B. In the process of joint movement, the running time of each joint axis
should be consistent and the end point should be reached at the same time.
3.3.3.2 MoveL
In rectilinear movement, the path from point A to point B is straight, as
shown in Figure 3-4
Fig. 3-4 MoveJ and MoveL Movement Modes
3.3.3.3 MoveC
The moving track of arc mode is an arc. The arc track is a space arc, which
is jointly determined by the current point, the any point of the arc and the end
point of the arc. An arc always starts from the starting point and passes through
any point of the arc to the end point, as shown in Figure 3-5.
Fig. 3-5 MoveC