66
This command controls the robot to move linearly in the tool
coordinate system.
Parameters Description:
pose_offset: The pose point, which is a floating-point array with a
length of 6, corresponds to the pose offset in the tool coordinate system.
v: It represents the robot end velocity in linear movement. Its unit is
mm/s. When the first three values(x,y,z) in the pose_offset are all 0, the
linear velocity is converted into angular velocity proportionally.
a: It represents the robot end acceleration, whose unit is mm/s
2
. This
value can be changed. It has a default value of 500mm/s
2
.
rad: It represents Joint blend radius, whose default value is 0 or -1
indicating no blend. When the value is greater than 0, it means blend with
the next motion command.
Return Value:
none
tcp_move_2p (pose:p1, pose:p2 , float : v, float : a, float : rad );
Function Description:
This command controls the robot to move linearly in the tool
coordinate system by a pose offset increment between p1 and p2.
Parameters Description:
p1: The pose point, which is a floating-point array with a length of 6, is
corresponding to the pose offset calculation point 1 in the tool coordinate
system.
p2: The pose point, which is a floating-point array with a length of 6, is
corresponding to the pose offset calculation point 2 in the tool coordinate
system.
v: It represents the robot end velocity in linear movement. Its unit is
mm/s. When x,y,z of the pose offset increment between p1 and p2 are all 0,
the linear velocity is converted into angular velocity proportionally.
a: It represents the robot end acceleration, whose unit is mm/s
2
. This
value can be changed. It has a default value of 500mm/s
2
.
rad: It represents Joint blend radius, whose default value is 0 or -1
indicating no blend. When the value is greater than 0, it means blend with
the next motion command.
Return Value:
none
speedj (array : axis_speed);
Function Description:
This command controls each joint of the robot to move continuously
at a given velocity. The subsequent commands are directly executed after the
speedj function is executed. After running the speedj function, the robot will
continue to move and ignore subsequent motion commands until the system
Содержание GCR Series
Страница 41: ...37 6 Robot Programming 6 1 Create program Click Create Program and enter a program name ...
Страница 47: ...43 The functions illustrate below are functions for IO The function illustrate below are logic function ...
Страница 51: ...47 6 6 Example Add a movej and movel node respectively Then add a MoveC node and set it s sub nodes position ...
Страница 53: ...49 ...
Страница 86: ...82 signal_name It represents the name of the modbus node Return Value none Example modbus_delete_signal mbus1 ...
