JAKA JAKA Zu 7, Руководство пользователя

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JAKA Zu
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7 - V1.1 46
10.5.1 Programing commands
As is shown in the figure above (Fig 10-14) in the left, the program commands are classified in six types:
move commands, IO commands, control commands, calculate commands, vision commands and submodule
commands. Take move commands for an instance, click the move commands, the specified command entry can
be opened. As the fig 10-15 shows and others are similar to it.
Fig 10-15
10.5.2 Commands instructions
Move Commands
Icon Industry terminology Function
MoveL Command
Move the tool linearly among points to keep
the tool executing on the strait path
MoveJ command
Execute the calculated movement in the
area of robot joints. The system
simultaneously control the joints move to
the required key position.
Way point
The points on the path of robots. The way
point is the core element of robot program
to indicate where the robot moves to. It is
used with pallet control commands.
Relative Linear
Movement
Execute offset movement which is relative
to the current point
Fig 10-16