Move extra, independent axes during the next motion to a Cartesian Location.
Move.Extra (axis_1_position, axis_2_position, axis_3_position, axis_4_position)
Prerequisites
Parameters
axis_1_position
A required numeric expression that specifies the new position of the first extra axis as an absolute position in units of either millimeters or degrees as appropriate.
axis_2_position
An optional numeric expression that specifies the new position of the second extra axis as an absolute position in units of either millimeters or degrees as appropriate. This is only used if the robot has two or more extra axes.
axis_3_position
An optional numeric expression that specifies the new position of the third extra axis as an absolute position in units of either millimeters or degrees as appropriate. This is only used if the robot has three or more extra axes.
axis_4_position
An optional numeric expression that specifies the new position of the fourth extra axis as an absolute position in units of either millimeters or degrees as appropriate. This is only used if the robot has four or more extra axes.
Remarks
Some kinematic modules include extra, independent axes that are physically part of the robot but that do not logically factor into the calculation of the Cartesian position and orientation of the robot. For example, the "Dual RPR Robot" and the "XYZ Plus Extra Axis Robot" both include an extra axis that does not affect the Cartesian location of the robot.
For these types of robots, if a motion instruction is executed to a Cartesian Location value, there is no information available to define where the extra axis is to be moved. So, in general, the extra axis will remain in its current position during such a motion.
To address this need, the Move.Extra method can be executed prior to the execution of a motion to a Cartesian Location. During the motion, any extra axes will be moved to the positions specified by the Move.Extra method simultaneously with the other axes of the robot. If the next motion is not to a Cartesian Location, the information specified in the Move.Extra method is ignored.
As an alternative to using the Move.Extra method, a motion specified to an Angles Location will move all of the axes of the robot including the extra axis. However, in this case, the benefits of utilizing a Cartesian Location will be lost.
Please see the documentation for your specific Robot Kinematic Module to determine if this instruction has any affect.
Examples
Dim pf1 As New Profile Create new profile set to default values
Move.Extra(20,Robot.DestAngles.Angle(6)) 'Move 1st extra axis to 20 next motion
'Keep 2nd extra axis at same position
Move.Loc(Location.XYZValue(300,0,100),pf1) ' Move robot and extra axis
See Also