Rainbow Robotics RB Series, Руководство пользователя

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RAINBOW ROBOTICS
RB SERIES _ USER MANUAL
© RAINBOW ROBOTICS Inc. All rights reserved.
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▷ MovePB (Move Point Blend) :
MovePB is similar to MoveLB, but it is more universally available. For each
Point, the user can set the blend amount in either distance or percentage (%).
The speed can also be set separately for each point.
▷
MoveJL (Move J with Linear Input)
:
Like MoveL, the Cartesian value of the target point is used as input. However,
instead of going straight to the point, it uses MoveJ's method. When the
Cartesian coordinate system input is received, it is converted into the target
joint angle through inverse kinematics and inputted again to MoveJ.
▷ MoveITPL (Move Interpolation) :
Starting from the starting point (the current position), move smoothly between
the points without any stops using the Move L method.
MoveLB or PB blends across (blend) each waypoint, but MoveITPL moves
along the trajectory exactly past each waypoint, so there is no separate blend
setting.
MoveITPL has two modes. Constant mode is to move the tool orientation while
maintaining the starting point value. Intended mode is to change the orientation
of each tool.
The speed can be set separately for each intermediate waypoint.