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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The following example is a program that uses the ‘Repeat’ function to repeat once every
second. After each second, the ‘Script’ function increases the variable called counter by 1.
This will continuously repeat, as the loop is set to continue an infinite number of times.
In the example below, the variable delta_z is set to 50. The MoveJ function is used to
move to a specific pose named start_point (using the Point naming feature).
Once MoveJ moves to start_point, the ‘Repeat’ function is set to repeat its sub-items 4
times.

MoveL uses the Relative Point function to move vertically in the z direction by
delta_z (50 mm) from start_point . (refer to the relative point function of the linear
movement series of the point function.)

At the end of the loop, delta_z is increased by 50 using the ‘Script’ function.
To summarize, the robot moves to the first position with MoveJ, saves the position as
start_point, and then executes the ‘Repeat’ function 4 times and moves up each loop by
50mm using the MoveL function.