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Move S

Function

To move the robot along a spline orbit.

Syntax

Move S, path number[,motion option]

Guaranteed entry

Path number
Designate a path number by integer type data. Target position option can be added to the path number.
Motion option
Designate a motion option.

Description

The robot moves along the spline orbit from the current position through the route designated by path number. The orbit will be depicted as a smooth curve. The speed of TCP point keeps the constant speed on the curve except the time of acceleration/deceleration.

Related Terms

Target Position Option, Spline Motion, Path Point Setting Function, LoadPathPoint, AddPathPoint, ClrPathPoint, GetPathPoint, CurPathPoint

Attention

  • If a path point of the designated path number does not exist, an error occurs.
  • Arrive command is not available during Spline command execution.

Example

#Define Home P(300,0,300,180,0,180,-1)
#Define PartsNum I[10]
#Define BasePathNum 10

Sub Main
	Dim PathNum As Integer	'Path data for each part number
	Dim Pos As Position
	Dim n As Integer

	LoadPathPoint BasePathNum 'Initialization (Back to basic path data)
	
	PathNum = Int(PartsNum / 1000)	'Set a path number for the part number (4th digit)
	For n = 1 To GetPathPointCount(PathNum)
		Pos = GetPathPoint(PathNum, n)	'Load path point data of the part number
		AddPathPoint BasePathNum, Pos	'Add path point to the basic path
	Next
	TakeArm
	Move S, BasePathNum, Speed = Mps(150)	'Spline motion
	
	Move P, Home
End Sub

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