Create Script

Create Script

The function create a DRL script from the path objects.

1. Click [Create Script] button in the menu bar.
   

   

2. Select a path data group to create a script.
   

   

   
   
3. Click [Edit Property] to edit motion property.
   

   

   
   

   

   
   

   A motion has properties as below.

   Velocity Type	There are two options: Velocity and Time. Velocity: velocity and acceleration value decide the speed of motion. Time: motion complete time decides the speed.
   Translation Speed/Acceleration Speed	Applied in case that velocity type is ‘Velocity’.
   Time	Applied in case that velocity type is ‘Time. The unit of time is second.
   Coordinate Type	The coordinate type of motion points: Base or World.
   Blending Radius	If the value is greater than 0, the current motion will be blended when the TCP reaches the point where the distance from the next motion’s starting position is less than the radius. If the value is 0, no blending occurs.

   A path segment is translated into a motion script. Initially all motion script follows the global property. If the user changes the property type to ‘Local’, the motion follows the local property.
   

   

   
   Global properties can be changed in the following UI.
   

   

   
   The user can define initial joint pose and joint motion speed.
   

   

   
   When editing is complete, click the Reflect Attributes button. Changes are reflected in the script only when properties are reflected.
   

   

4. Click the [Create Script] button to Create Script.
   

   

5. Check the result script.
   

6. 

   
   Copy and paste the script to the DRL project source editor.
   

Note

The script generation could fail in cases as below.

• Spline motion restricts the path points to 100. If a path segment has more than 100 path points, the script generation fails. In that case, the user split the path segment so that the number of path points is less than 100.
• Blend motion restricts the segment motions to 100. If a blend path segment has more than 100 child segments, the script generation fails. In that case, the user split the path segment so that the number of child segment is less than 100.
• The child segment of blend path segment should be line or arc. If the type of curve of the child segment is not one of them, the script generation fails. In that case, the user should modify the curve type of the child segment.

Run Script

The program provides functions to verify the motion and the trajectory of the generated script.

1. Connect to the controller.
2. Copy and paste the generated code to the script editor of the [Task manager].
3. Click the [Turn On Simulation] button in the menu bar.
   

   

   
   

   If the program is connected to the controller, the shape of currently connected robot model is display.

   
   

   

   
   
4. Run the program in the [Task manager].
   If program starts, the trajectory of the TCP is drawn in the 3D view. Check the trajectory of the motion.
   

   

5. If the simulation is done, click the [Turn Off Simulation] button in the menu bar.