Move function block

2 minute read

With the move function block, you can move the robot by means of defining a path express in waypoints. You can assign a variables like points to waypoints. The robot can move to these waypoints in three different ways: linear, joint or circular. The path from one waypoint to another is called a segment and can be parametrized as described in the table below.

Bar	Description
Linear	If you select `linear` mode the motion between the specified waypoints is executed in `cartesian-space`.
`Velocity`	Here you can define the `velocity` of the linear movement in `mm/s`.
`Acceleration`	Here you can define the `acceleration` of the linear movement in `mm/s2`.
`Rotational velocity`	Here you can define the `rotational velocity` of the axis orientation in `deg/s`.
`Rotational acceleration`	Here you can define the `rotational acceleration` of the axis orientation in `deg/s2`.
Joint	If you select `joint` mode, the motion between the specified waypoints are executed in `joint-space`.
`Rotational velocity`	Here you can define the `rotational velocity` of the `joints` in `deg/s`.
`Rotational acceleration`	Here you can define the `rotational acceleration` of the `joints` in `deg/s2`.
Circular	If you select `circular` mode, the motion between the specified waypoints is executed as a `circular motion` throughout the waypoints.
`Angle`	Here you can define the maximum allowable `angle` of the motion `deg`.
`Velocity`	Here you can define the `velocity` of the circular movement in `mm/s`.
`Acceleration`	Here you can define the `acceleration` of the circular movement in `mm/s2`.
`Rotational velocity`	Here you can define the `rotational velocity` in `deg/s` of the `axis orientation` in `deg/s`.
`Rotational acceleration`	Here you can define the `rotational acceleration` in `deg/s2` of the `axis orientation` in `deg/s2`.
General	In here you can assign a variable to the waypoint.
`Waypoint`	A `waypoint` is a variable like a `geometric point` to which the robot can move, you can have multiple waypoints in one `move` function block.
`Smooth factor`	With `smooth factor` you can smooth out the motion path between segments. This factor can be adjust in a range of 0 till 50%.
`Next segment velocity`	With `next segment velocity` you can change the velocity for the next segment, the next segment velocity is defined as % of the parametrized initial velocity.
	Pressing button gives you the option to `delete` the `function block`.