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ID : 524
Motion Statement
A motion statement refers to a statement to move the robot including its extended-joints along with statement execution.
The robot moves from the current position toward the target position.
In a motion statement, the target position and motion interpolation method and motion options can be designated. Pass start displacement and target position option can be additionally designated for the target position.
- Target position
- For statements such as Move, a target position is directly designated by position type / homogeneous translation type / joint type data. For statements such as Approach, a position offset from the reference position designated by an argument is set as a target position. As a target position varies depending on statements, refer to each reference.
- Pass start displacement
- Designate the pass start displacement that specifies the time to execute the next line statement.
- Target position option
- Designated to activate a motion of the extended-joints along with the motion statement.
- Motion interpolation method
- Designate a route to the target position.
- Motion option
- Designate option(s) to validate a statement only.
List of Motion Statements
A list of PacScript motion statements.
| Statement name | Explanation |
|---|---|
| Approach | Activate an absolute motion designating tool coordinates. |
| Depart | Activate a relative motion designating tool coordinates. |
| Draw | To activate a relative motion. |
| Drive | To perform a relative motion of each axis. |
| DriveA | To perform an absolute motion of each axis. |
| Move | To move the robot to the designated coordinates. |
| Move C | To move the robot to the designated coordinates along with an arc. |
| Move S |
To move the robot by free curve interpolation. |
| Rotate | To rotate a designated axial spin. |
| RotateH | To perform rotation motion with the approach vector as an axis. |
Precautions for Motion Statement
The following errors may occur in a motion statement.
Target Position Out of Motion Range
If the target position is out of the motion range, an "out of motion range" error occurs.
Target Position Different from Current Figure in CP Motion or Circular Motion
The robot attempts to retain the current figure in the CP motion or circular motion. In case of inconsistent single/double figures, motion is possible but for other inconsistency, an "inconsistent error" occurs. In this case, you may move the robot by setting the target position figure to "-1 (Succeed)."
Overload Error in CP Motion
When the CP motion trajectory crosses the proximity of the singularity, the posture may be suddenly changed and an overload error may occur. Avoid this situation by the singularity avoidance function etc.
Designating Homogeneous Translation Type Data for Target Position
If homogeneous translation type data are designated for a target position, normalization calculation of homogeneous translation type data is performed. An error may occur in normalization calculation. Refer to "Normalization of Homogeneous Translation Type Data."
ID : 524