ID : 207

Move

Function

To move the robot to the designated coordinates.

Syntax

Move motion interpolation,target position[, motion option]

Guaranteed Entry

Motion interpolation: Designate a motion interpolation method.
Target position: Designate a target position by position type data, homogeneous translation type data and joint type data. Target position option can be added to the target position. In addition, it is also allowed to state target positions consecutively.
The value can be designated by array. In this case, the array is treated as position type.
Motion option: A motion option can be specified.

Description

The robot moves from a current position to a target position.

To execute this statement, the task must acquire robot axis control.

The motion interpolation method is as described below.

Designation method	Motion interpolation method
{P \| PTP}	PTP motion. This motion moves the fastest. TCP point track is not considered.
L	Linear interpolation motion. TCP point moves from the current position to the target position linearly at constant speed in other than acceleration/deceleration areas.
C	Circular interpolation motion. The robot moves along the circular arc consisting of the current position, relay position and target position in order of the current position → relay position → target position. The robot moves at constant speed in other than acceleration/deceleration areas. Refer to "Move C."
S	Free curve interpolation motion. The robot moves at constant speed along a smooth curve crossing the registered point. Refer to "Move S."

Stating Target Positions Consecutively

The robot moves in order when target positions are set. Set the target position options for each target position.

Move P, @P P[2] Ex( ( 7, 10 ) ), @P P[5], P[8], P[15], Speed = 30, Next

The above statement is the same as the following.

Move P, @P P[2] Ex( ( 7, 10 ) ), Speed = 30, Next
Move P, @P P[5], Speed = 30, Next
Move P, P[8], Speed = 30, Next
Move P, P[15], Speed = 30, Next

Attention

When target position(s) is designated by joint type data, only robot axis components within the joint type data including extended-joints are moved and components of extended-joints are ignored. For motion accompanied by extended-joints, use extended-joints option for target position.

Dim aaa As Joint
TakeArm 2 'All axes including extended-joints for arm group 2
aaa = J(10, 20, 30, 40, 50, 60, 70, 80)
Move P, aaa 'Robot moves to J(10, 20, 30, 40, 50, 60). The extended-joints do not move.
Move P, aaa ExA(aaa) 'Move to J(10, 20, 30, 40, 50, 60, 70, 80).

Example

'!TITLE "Movement to Designated Coordinates"
' Move from the current position to a designated coordinate position
Sub Sample_Move

  Dim aaa As Position
  Dim bbb As Position
  Dim ccc As Position

  TakeArm Keep = 1

  ' Assign the current position to aaa
  aaa = CurPos

  ' Move from the current position to P(740, 0, 480, 180, 0, 180) coordinate position
  Move P, P( 740, 0, 480, 180, 0, 180, -1 )

  bbb = P( 600, 200, 480, 180, 0, 180, -1 )

  ' Move from the current position to the bbb coordinate position
  Move L, bbb

  ccc = P( 500, 400, 600, 180, 0, 180, -1 )

  ' Move from the current position to the ccc coordinate position
  Move P, @P ccc

  ' Move from the current position to the aaa coordinate position
  Move L, @20 aaa

End Sub