Understand robot motion properties

MANDATORY NORMAL 15 MIN

It is the property screen of the standard motions, MoveJ and MoveL commands. Other motions also have similar properties.

If motion is created with minimum settings, only the pose information (5 in the figure below) needs to be entered.

	Name	Description
1	Annotation	Description or annotation of the command which can be found in the task window
2	Coordinates	MoveJ: None MoveL: Calculates the entered pose information based on the coordinates (BASE/WORLD/TOOL/USER)
3	Select move type	Absolute movement MoveJ: Each joint moves to the target angle MoveL: Performs absolute movement by the target value based on the origin of the selected coordinates Relative movement MoveJ: Each joint performs relative movement by the target angle from the current angle MoveL: Performs relative movement by set value based on the current point (relative movement based on the selected coordinates)
4	Select variable	Pose information registered as variables can be selected
5	Pose information	Pose information is entered MoveJ: Angle of each axis ([J1, J2, J3, J4, J5, J6]) MoveL: Position and rotation from coordinates ([X, Y, Z, A, B, C])
6	Speed setting	Global: Uses the speed designated as global in the property of MainSub Local: Each speed is designated Separate: MoveJ: Each joint speed is designated separately MoveL: None Time: Movement speed of the motion is set as time
7	Operation mode	Sync: The motion command in progress is done and the next command is executed Async: The next command is done simultaneously when the motion command begins Radius: The async function is activated in the radius section before the motion command reaches its target point
8	Blending mode	The option used to determine whether to ignore or overwrite the preceding motion according to the blending mode of the following motion when the radius is set as an option of the preceding motion

Operating mode

Sync

You can move to the next command with Sync when the command in progress is completed. It is set as default, and used in general situations.

Async

Async starts the next command simultaneously when the motion command begins. It is used to smoothly connect different motions, and it is also used when signal output is turned on/off simultaneously when the motion begins.

Radius

Radius option activates the async function in the radius section before the motion command reaches its target point. With this option, it is possible to smoothly connect to the next motion command without stopping the current motion command. The radius is set to 0 mm as default.

Caution

Radius option has following characteristics and limits:

Radius function can only be used in sync mode.
Conditions and calculations can be performed in the async section within the radius.
Radius cannot exceed 1/2 of the total distance between the current and target location before the motion is executed.
- ex. If the movement distance is 100 mm, the maximum radius available is 50 mm.
Motion commands which cannot apply Blending between motions are as follows: Blending is already applied in these commands, so applying radius to these commands and executing them causes errors. Utilizing commands, such as WaitMotion and StopMotion, can help avoid errors.
- MoveSX, MoveSJ, MovePeriodic, MoveSpiral, MoveB

Blending mode

It is the option used to determine whether to ignore or overwrite the preceding motion according to the blending mode of the following motion when the radius is set as an option of the preceding motion.

Duplicate

Duplicate is a mode that maintains the preceding motion to allow the following motion to overlap with the preceding motion.

Override

Override ignores and overwrites the preceding motion to execute the following motion.