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Move C

Function

To move the robot to the designated coordinates along with an arc.

Syntax

Move C, route position, target position[, motion option]

Guaranteed Entry

Route position
Designate a route position by position type data, homogeneous translation type data and joint type data.
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.
Motion option
Designate a motion option.

Description

The robot moves to a route position and then a target position along an arc drawn over 3 points: current position, route position and target position.

Related Terms

Move, Rotate, RotateH, Move S

Attention

The posture transforms from the current position posture to the target position posture. Posture element in the route position is ignored. If the figures of the current position and target position are not identical, an error may occur.

Example

'!TITLE "Movement to Designated Coordinates"
' Movement along an arc toward the target coordinate position
Sub Sample_MoveC

  Dim aaa As Position
  Dim bbb As Position

  TakeArm Keep = 1

  ' Acquisition of route pose position
  aaa = P( 800, -200, 50, -180, 0, -180, -1 ) 

  ' Acquisition of target pose position
  bbb = P( 800, 100, 200, -180, 0, -180, -1 )

  ' Move from the current position to bbb through aaa along an arc
  Move C, aaa, @P bbb

End Sub

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