ID : 7349
MC_MoveLinearAbsolute
To move the robot to the target position by linear interpolation control. Specify the target position with a cartesian coordinate system (Position type).
Graphic expression | AOI category |
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Motion |
Input and Output Variable
Variable name | Data type | Valid range | Conditions for Input and Output |
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AxesGroup | eRC_AxesGroup | - | |
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Position | eRC_Position | For input | |
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CoordSystem | eRC_CoordSys |
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For input |
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Input Variable
Variable name | Data type | Valid range |
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Execute | Boolean |
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Velocity | Real | 0.1 to 100.0 |
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Acceleration | Real | 0.0001 to 100.0 |
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Deceleration | Real | 0.0001 to 100.0 |
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BufferMode | Integer | 0, 1, 6, 7, 8, 9 |
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TransitionMode | Integer | 0, 3, 10, 11 |
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TransitionParameter | Integer | 0 to 32767 |
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Output Variable
Variable name | Data type / Description |
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Done | Boolean |
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NextActionPermit | Boolean |
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Busy | Boolean |
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Active | Boolean |
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CommandAborted | Boolean |
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Error | Boolean |
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ErrorID | Integer |
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ErrorIDEx | DInt |
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Function Description
- About Linear interpolation control
- Linear interpolation control manages interpolation so that the path to reach the motion destination position will be a straight line.
The figure below shows an example of motion by linear interpolation control.
Attention
To execute this AOI, AOI with the AOI category "Motion" needs to be made executable.
To make AOI with the AOI category "Motion" executable, use the AOI "MC_Power".
ID : 7349