Definition
posb(seg_type, posx1, posx2=None, radius=0)
Features
-
Input parameters for constant-velocity blending motion (moveb and amoveb) with the Posb coordinates of each waypoint and the data of the unit path type (line or arc) define the unit segment object of the trajectory to be blended.
-
Only posx1 is inputted if seg_type is a line (DR_LINE), and posx2 is also inputted if seg_type is a circle (DR_CIRCLE). Radius sets the blending radius with the continued segment.
Parameters
|
Parameter Name |
Data Type |
Default Value |
Description |
|---|---|---|---|
|
seg_type |
Int |
- |
DR_LINE DR_CIRCLE |
|
posx1 |
posx |
- |
1st task posx |
|
posx2 |
posx |
- |
2nd task posx |
|
radius |
float |
0 |
Blending radius [mm] |
Return
Posb
Exception
|
Exception |
Description |
|---|---|
|
DR_Error (DR_ERROR_TYPE) |
Parameter data type error occurred |
Example
Python
q0 = posj(0, 0, 90, 0, 90, 0)
movej(q0,vel=30,acc=60)
x0 = posx(564, 34, 690, 0, 180, 0)
movel(x0, vel=200, acc=400) # Moves to the start position.
x1 = posx(564, 200, 690, 0, 180, 0)
seg1 = posb(DR_LINE, x1, radius=40)
x2 = posx(564, 100, 590, 0, 180, 0)
x2c = posx(564, 200, 490, 0, 180, 0)
seg2 = posb(DR_CIRCLE, x2, x2c, radius=40)
x3 = posx(564, 300, 490, 0, 180, 0)
seg3 = posb(DR_LINE, x3, radius=40)
x4 = posx(564, 400, 590, 0, 180, 0)
x4c = posx(564, 300, 690, 0, 180, 0)
seg4 = posb(DR_CIRCLE, x4, x4c, radius=40)
x5 = posx(664, 300, 690, 0, 180, 0)
seg5 = posb(DR_LINE, x5, radius=40)
x6 = posx(564, 400, 690, 0, 180, 0)
x6c = posx(664, 500, 690, 0, 180, 0)
seg6 = posb(DR_CIRCLE, x6, x6c, radius=40)
x7 = posx(664, 400, 690, 0, 180, 0)
seg7 = posb(DR_LINE, x7, radius=40)
x8 = posx(664, 400, 590, 0, 180, 0)
x8c = posx(564, 400, 490, 0, 180, 0)
seg8 = posb(DR_CIRCLE, x8, x8c, radius=0) # The last radius must be 0.
# If not 0, it is processed as 0.
b_list = [seg1, seg2, seg3, seg4, seg5, seg6, seg7, seg8]
moveb(b_list, vel=200, acc=400)