Motion
MoveL
Primitive Description and Usage
Description: This primitive controls the robot TCP to move linearly to the target pose. You can specify multiple waypoints before the target point, and TCP will move in a straight line through each waypoint to reach the target point with a certain blending zone radius.
Example Usage: When the motion trajectory is required, use this primitive to move the robot TCP to the target pose along the specified trajectory.
Primitive Input Parameters
Input Parameter |
Description |
Type |
Unit |
Default Value & Range |
|---|---|---|---|---|
target* |
Target TCP pose |
COORD |
m-deg |
[traj_start* world*] |
waypoints |
Waypoints between initial and target poses |
ARRAY_COORD |
m-deg |
[traj_start* traj_goal* traj_prev* world*] |
vel |
TCP linear velocity |
DOUBLE |
m/s |
0.25 ∈ [0.001 … 2.2] |
zoneRadius |
Blending zone radius while TCP approximates the waypoints |
TYPE |
none |
Z50 ∈ [ZFine Z1 Z5 Z10 Z15 Z20 Z30 Z40 Z50 Z60 Z80 Z100 Z150 Z200] |
targetTolerLevel |
Tolerance level to determine if the robot has reached the target. 1 means to check with the smallest tolerance, 0 means no tolerance check. |
INT |
none |
3 ∈ [0 … 10] |
acc |
TCP linear acceleration |
DOUBLE |
m/s^2 |
10 ∈ [0.1 … 15.0] |
jerk |
TCP linear jerk |
DOUBLE |
m/s^3 |
200.0 ∈ [50.0 … 1000.0] |
*Parameters marked with an asterisk must be assigned a value prior to executing the primitive.
*Coordinate System Definition
Coordinate |
Definition |
Value Format |
|---|---|---|
world |
WORLD coordinate system, which is a fixed Cartesian coordinate system located at the center of the robot base |
X Y Z Rx Ry Rz WORLD WORLD_ORIGIN |
work |
WORK coordinate system, which defines the position of the workpiece relative to the WORLD coordiante system |
X Y Z Rx Ry Rz WORK WorkCoordName |
tcp |
TCP coordinate system, which is located at the Tool Center Point relative to the center of robot flange |
X Y Z Rx Ry Rz TCP ONLINE |
tcp_start |
The fixed coordinate system which is located at the inital TCP pose of the primitive |
X Y Z Rx Ry Rz TCP START |
traj_start |
The offset of a waypoint relative to the initial TCP pose in the TCP coordinate system |
X Y Z Rx Ry Rz TRAJ START |
traj_goal |
The offset of a waypoint relative to the target TCP pose in the TCP coordinate system |
X Y Z Rx Ry Rz TRAJ GOAL |
traj_prev |
The offset of a waypoint relative to the previous waypoint in the TCP coordinate system |
X Y Z Rx Ry Rz TRAJ PREVIOUSWAYPOINT |
You can use the simplified value format above to describ a waypoint, while the complete description of a Cartesian waypoint is: X Y Z Rx Ry Rz ReferenceCoordinate A1 A2 A3 A4 A5 A6 A7 E1 E2 E3 E4 E5 E6. A1 to A7 are the preferred joint positions of the robot; X1 to X6 are the target positions of external axes. The additional data can be added if necessary.
Add “:” to seperate the waypoints. For example: 0.2 0 0.3 0 180 0 WORLD WORLD_ORIGIN : 0.2 0.1 0.3 0 180 0 WORLD WORLD_ORIGIN.
Primitive State Parameters
State Parameter |
Description |
Type |
Unit |
|---|---|---|---|
terminated |
The termination flag of the primitive. It is set to true if the primitive is terminated. |
BOOL |
none |
timePeriod |
The time spent on running the current primitive. |
DOUBLE |
s |
reachedTarget |
Flag to indicate if the robot has reached the target |
BOOL |
none |
waypointIndex |
Index of the current waypoint the robot just passed. 0 means the initial pose. |
INT |
none |
Primitive Output Parameters
Output Parameter |
Description |
Type |
Unit |
|---|---|---|---|
tcpPoseOut |
The TCP pose when the primitive is terminated. It is represented in the world coordinate system. |
COORD |
m-deg |
Default Transition Condition
State Parameter |
Condition |
Value |
|---|---|---|
reachedTarget |
= |
1 |
MoveJ
Primitive Description and Usage
Description: This primitive moves the robot to the target joint position by joint movement. You can specify multiple joint waypoints before the target point, and the robot will move in a non-linear way through each waypoint to reach the target point.
Example Usage: Use this primitive to quickly move the robot to the specified joint positions in an obstacle-free space.
Primitive Input Parameters
Input Parameter |
Description |
Type |
Unit |
Default Value & Range |
|---|---|---|---|---|
target* |
Target joint position |
JPOS |
deg |
|
waypoints |
Waypoints between initial and target poses |
ARRAY_JPOS |
deg |
|
jntVelScale |
Robot joint velocity scale. The robot joints will move at full speed when this value is set to 100. |
INT |
none |
20 ∈ [1 … 100] |
zoneRadius |
Blending zone radius while TCP approximates the waypoints |
TYPE |
none |
Z50 ∈ [ZFine Z1 Z5 Z10 Z15 Z20 Z30 Z40 Z50 Z60 Z80 Z100 Z150 Z200 ZSpline] |
targetTolerLevel |
Tolerance level to determine if the robot has reached the target. 1 means to check with the smallest tolerance, 0 means no tolerance check. |
INT |
none |
1 ∈ [0 … 10] |
enableRelativeMove |
Enable the relative motion. Each waypoint define the joint displacement relative to the previous point. |
BOOL |
none |
0 ∈ [0 / 1] |
*Parameters marked with an asterisk must be assigned a value prior to executing the primitive.
*Robot Joint Position Description
The complete description of a joint waypoint (JPOS) is: A1 A2 A3 A4 A5 A6 A7 E1 E2 E3 E4 E5 E6. A1 to A7 are the joint positions of the robot; X1 to X6 are the positions of external axes. You can only set the robot joint positions if external axes do not exist. For example: 0 -40 0 90 0 0 0.
Add “:” to seperate the waypoints. For example: 10 10 10 0 0 0 0 : 20 20 20 0 0 0 0.
Primitive State Parameters
State Parameter |
Description |
Type |
Unit |
|---|---|---|---|
terminated |
The termination flag of the primitive. It is set to true if the primitive is terminated. |
BOOL |
none |
timePeriod |
The time spent on running the current primitive. |
DOUBLE |
s |
reachedTarget |
Flag to indicate if the robot has reached the target |
BOOL |
none |
waypointIndex |
Index of the current waypoint the robot just passed. 0 means the initial pose. |
INT |
none |
Primitive Output Parameters
Output Parameter |
Description |
Type |
Unit |
|---|---|---|---|
tcpPoseOut |
The TCP pose when the primitive is terminated. It is represented in the world coordinate system. |
COORD |
m-deg |
Default Transition Condition
State Parameter |
Condition |
Value |
|---|---|---|
reachedTarget |
= |
1 |
MoveC
Primitive Description and Usage
Description: This primitive moves the robot circularly to a target pose in Cartesian space. The robot’s initial pose, middle pose, and target pose must not be collinear. A complete circle can be performed by two MoveC primitives.
Example Usage: Use this primitive in applications that require the robot to execute circular/arc trajectories.
Primitive Input Parameters
Input Parameter |
Description |
Type |
Unit |
Default Value & Range |
|---|---|---|---|---|
target* |
Target TCP pose |
COORD |
m-deg |
[traj_start* world*] |
middlePose* |
Middle pose of the circular arc. When passing through this point, the robot will refer to the reference joint position of the target point. |
COORD |
m-deg |
[traj_start* traj_goal* traj_prev* world*] |
vel |
TCP linear velocity |
DOUBLE |
m/s |
0.25 ∈ [0.01 … 2.0] |
targetTolerLevel |
Tolerance level to determine if the robot has reached the target. 1 means to check with the smallest tolerance, 0 means no tolerance check. |
INT |
none |
3 ∈ [0 … 10] |
acc |
TCP linear acceleration |
DOUBLE |
m/s^2 |
10 ∈ [0.1 … 15.0] |
jerk |
TCP linear jerk |
DOUBLE |
m/s^3 |
100.0 ∈ [90.0 … 10000.0] |
*Parameters marked with an asterisk must be assigned a value prior to executing the primitive.
*Coordinate System Definition
Coordinate |
Definition |
Value Format |
|---|---|---|
world |
WORLD coordinate system, which is a fixed Cartesian coordinate system located at the center of the robot base |
X Y Z Rx Ry Rz WORLD WORLD_ORIGIN |
work |
WORK coordinate system, which defines the position of the workpiece relative to the WORLD coordiante system |
X Y Z Rx Ry Rz WORK WorkCoordName |
tcp |
TCP coordinate system, which is located at the Tool Center Point relative to the center of robot flange |
X Y Z Rx Ry Rz TCP ONLINE |
tcp_start |
The fixed coordinate system which is located at the inital TCP pose of the primitive |
X Y Z Rx Ry Rz TCP START |
traj_start |
The offset of a waypoint relative to the initial TCP pose in the TCP coordinate system |
X Y Z Rx Ry Rz TRAJ START |
traj_goal |
The offset of a waypoint relative to the target TCP pose in the TCP coordinate system |
X Y Z Rx Ry Rz TRAJ GOAL |
traj_prev |
The offset of a waypoint relative to the previous waypoint in the TCP coordinate system |
X Y Z Rx Ry Rz TRAJ PREVIOUSWAYPOINT |
You can use the simplified value format above to describ a waypoint, while the complete description of a Cartesian waypoint is: X Y Z Rx Ry Rz ReferenceCoordinate A1 A2 A3 A4 A5 A6 A7 E1 E2 E3 E4 E5 E6. A1 to A7 are the preferred joint positions of the robot; X1 to X6 are the target positions of external axes. The additional data can be added if necessary.
Add “:” to seperate the waypoints. For example: 0.2 0 0.3 0 180 0 WORLD WORLD_ORIGIN : 0.2 0.1 0.3 0 180 0 WORLD WORLD_ORIGIN.
Primitive State Parameters
State Parameter |
Description |
Type |
Unit |
|---|---|---|---|
terminated |
The termination flag of the primitive. It is set to true if the primitive is terminated. |
BOOL |
none |
timePeriod |
The time spent on running the current primitive. |
DOUBLE |
s |
reachedTarget |
Flag to indicate if the robot has reached the target |
BOOL |
none |
waypointIndex |
Index of the current waypoint the robot just passed. 0 means the initial pose. |
INT |
none |
Primitive Output Parameters
Output Parameter |
Description |
Type |
Unit |
|---|---|---|---|
tcpPoseOut |
The TCP pose when the primitive is terminated. It is represented in the world coordinate system. |
COORD |
m-deg |
Default Transition Condition
State Parameter |
Condition |
Value |
|---|---|---|
reachedTarget |
= |
1 |