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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Command blend_tcp
Script blend_tcp add_pt spd, acc, radius, x, y, z, rx, ry, rz
Descript.
This command adds a desired TCP value to the TCP blending
sequence.
The input value for radius determines the smoothness of
blending. The value is in mm. Arithmetically it is the distance
from the straight line between the first and third points to the
second point. Thus, when it is set to 0, the blending becomes
maximized and the robot skips the second point.
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.
The speed and acceleration of the motion are defined by spd
and acc in the last command.
Example “blend_tcp add_pt 0.4, 0.1, 30.0, 100.0, 100.0, 300.0, 0.0, 90.0,
0.0”
Command blend_tcp
Script blend_tcp move_pt
Descript.
This command runs the TCP blending motion.
TCP follows the positions and orientations of TCP defined in
the TCP blending sequence.
Example “blend_tcp move_pt”