Move Class

The global MoveClass provides the methods for commanding the robot to perform a motion. The most fundamental position-controlled motion method is:

Move.Loc (Location1,Profile1)

This executes a single motion segment and moves the robot to the absolute position and orientation specified by Location1 using the performance parameters specified by Profile1. More complex, multi-segment motions can be constructed by executing several Move methods in rapid succession. If desired, the system will automatically blend motion segments together into a single “continuous path” that executes several segments in succession before bringing the robot to a stop. This method can significantly improve cycle times of even simple applications. Each motion segment can either move the robot’s tool tip along a Cartesian straight-line path, a circular interpolated path or a joint-interpolated path. Straight-line and circular paths are made possible by the installation of “kinematic modules” that provide GPL with a knowledge of the robot’s geometry.

As an ease-of-use feature, several Move methods are provided for defining the destination of a motion. For example, methods are provided for specifying if the robot is to move directly to a destination, move to the clearance position of a destination, move relative to the previous destination, or move a single axis.

In addition to position-controlled motions, the system also supports velocity and torque controlled motions.

In order for a robot motion to be executed, the following conditions must be satisfied:

High power for the amplifiers and motors must be enabled (see Controller.PowerEnabled).
The motors must be commutated. This normally happens automatically and is performed during the PowerEnable or the homing sequence.
In the standard case where the robot is to be position controlled, the robot axes must be homed each time the controller is restarted (see Robot.HomeAll). Homing reestablishes the zero position for each axes so that the robot can repeat a previously taught motion.
The robot must be attached to the thread (see Robot.Attached). Attaching ensures that only a single thread can issue motion commands to a robot.

For general information on the system’s motion control capabilities, please see the introductory section on “Motion Control”.

All of the methods for the Move Class are described in detail in the Reference Documentation section. Table 19-16 summarizes this information.

Table 19-16: Move Class, Summary
Member	Type	Description
Move.Approach	Method	Moves to the clearance position for a specified Location.
Move.Arc	Method	Moves the tool tip of the robot along an arc path defined by three Locations.
Move.Circle	Method	Moves the tool tip of the robot around a complete circle defined by three Locations.
Move.Delay	Method	Pauses execution of motions for a specified period of time, in seconds.
Move.Extra	Method	Moves extra, independent axes during the next motion to a Cartesian Location.
Move.ForceOverlap	Method	Bypasses the system's normal motion blending features and defines how the execution of two sequential motions are to be overlapped. Can also automatically limit the rounding of corners between sequential Cartesian motions.
Move.Loc	Method	Basic instruction to move to a specified destination Location.
Move.OneAxis	Method	Convenience method to move a single axis of a robot.
Move.Rel	Method	Moves to a Location that is relative to the destination of the previous motion.
Move.SetJogCommand	Method	Sets or changes the specific mode, axis and speed during jog (manual) control mode.
Move.SetRealTimeMod	Method	Sets the changes in position and orientation for the Real-time Trajectory Modification mode.
Move.SetSpeeds	Method	Sets new target speeds and accelerations for all axes during velocity control mode.
Move.SetTorques	Method	Sets new target torque output levels for all motors in torque control mode.
Move.StartJogMode	Method	Initiates execution of jog (manual) control mode.
Move.StartRealTimeMod	Method	Initiates a trajectory mode that permits a GPL program to dynamically modify a planned path while the path is being executed.
Move.StartSpeedDAC	Method	Starts / stops automatic control of an analog output based upon a robot's tool tip speed.
Move.StartTorqueCntrl	Method	Initiates execution of torque control mode for one or more motors.
Move.StartVelocityCntrl	Method	Switches all axes of a robot to velocity control mode in place of position control mode.
Move.StopSpecialModes	Method	Terminates execution of any active special trajectory control modes.
Move.Trigger	Method	Primes the system to automatically assert a digital output signal or a thread event at a prescribed trigger position during the next or current motion.
Move.WaitForEOM	Method	Pauses GPL program execution until the current motion is completed.