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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2) movetcp
Command Movetcp
Script movetcp spd, acc, x, y, z, rx, ry, rz
Descript.
This command moves TCP in Cartesian Space.
The input values for x, y, z are used to define the desired
position to go. The values should be a number in mm.
The input values for rx, ry, rz are used to define the desired
orientation to go. It is represented as roll, pitch and yaw in
Euler angle, respectively. The values should be a number in
degree.
The input values for spd and acc are used to define velocity
and acceleration respectively. The spd and acc should be a
number between 0 and 1. Smaller number represents slower.
When the input value is -1, the joint moves with the default
value.
This command will be ignored if the previous command is
not finished yet.
Example “movetcp 0.4, 0.1, 100.0, 100.0, 300.0, 0.0, 90.0, 0.0”
3) movecircle
Command movecircle(three points mode)
Script
movecircle threepoints orientation_option spd, acc, x1, y1, z1,
rx1, ry1, rz1, x2, y2, z2, rx2, ry2, rz2
Descript.
This command generates the circular motion of TCP using
three points.
Three options determining the orientation of TCP in drawing
a circle are available in orientation_option.
With ‘intended’, TCP follows the input orientation for mid-
point (rx1, ry1, rz1) and end-point (rx2, ry2, rz2).
With ‘constant’, TCP keeps the current orientation during the
circular motion.
With ‘radial’, the TCP orientation changes in a way of the
tangent direction to the center of the circle.
The input values for x1, y1, z1 are used to define the relative
position of TCP at mid-point from the center of the circle. It is
a number in mm.