LNC Robot Series, Руководство по эксплуатации и программированию

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Joint Robot Manipulator - Software Operation Manual
Advantech LNC Technology Co., Ltd.
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4.3. Fast moving
The motor of each axis is directly rotated to the target position according to the joint coordinates
of the target point, regardless of the motion curve. There are two types of quick instruction
applications:
1. There are no obstacles between the starting and ending points, as long as they can arrive
quickly.
2. The attitude of the starting and ending points spans different quadrants, using when path
motions cannot be achieved.
Note: This instruction can be used when the 3rd or 5th joint of joint coordinate of starting and
ending points has a span of 0 degrees.
The change process of each joint is proportionally converted according to the difference between
the current and target joint coordinates, so that the target point can be reached most quickly, but
since the attitude change in the actual conversion process is related to the current coordinate, the
change process cannot be ensured. Therefore, it's necessary to be careful when using it.
4.4. Path motions
The path motion is a reference point for the path calculation of the Ptool. In addition to the
spatial position, the attitude change should also be considered. The guidelines for processing
path motions in the system are as follows
Path type
(command composition)
Position track Attitude change
Linear
(Starting point – linear point)
Spatial linear According to the distance traveled,
the attitude is changed in equal
proportions.
Arc transition
(Starting point – transition
Three points form a
spatial plane
The radius of the
transition circle can
be specified on the
Half of the arc is classified as the first
half and the other half is classified as
the second half.
The first half changes to the attitude
of the transition point by the distance
ratio, and the second half also changes