Move.Loc Method

Basic method for moving the robot to a specified destination in a position-controlled motion.

Move.Loc (location_1, profile_1)

Prerequisites

High power to the robot must be enabled.
The robot must be homed.
The robot must be Attached by the thread.

Parameters

location_1

A required Location Object or an expression that evaluates to a Location Object value. Can be either a Cartesian or an Angles type value.

profile_1

A required Profile Object or an expression that evaluates to a Profile Object value. Can specify either Cartesian straight-line or joint interpolated motions.

Remarks

This is the basic method for simultaneously moving all of the axes of a robot in a coordinated, position controlled motion to a destination specified by a Location Object, location_1, using performance parameters defined by a Profile Object, profile_1 (e.g. Speed, Accel, Decel, AccelRamp, DecelRamp).

The destination of the motion will be the “total position” defined by location_1. For the various forms for the Location Object, the motion destination will be computed as follows:

If location_1 is a Cartesian Location with a reference frame, the “total position” is computed as the position and orientation that is a result of evaluating location_1’s PosWrtRef value relative to the “total position” of the reference frame.

If location_1 is a Cartesian Location without a reference frame, location_1’s PosWrtRef value is interpreted as the absolute coordinates for the destination.

Otherwise, location_1 is an Angles Location and the motion destination will be the axes positions specified by location_1.

If profile_1 specifies a Straight-line motion, the robot will move along a straight path in Cartesian space. Otherwise, a joint-interpolated motion will be generated. If profile_1 has its InRange property set to zero or a positive value, the system will bring the robot to a stop at location_1. If this property is negative and the next motion statement is executed before this motion reaches its destination, GPL will attempt to blend the two motions together into a “continuous path”.

If the previous motion is still in process when the Move.Loc instruction is executed, the Move.Loc instruction will temporarily suspend execution of its thread. At the conclusion of the previous motion or as soon as the new motion starts to be blended with the previous motion, the thread will automatically continue execution at the next instruction in the GPL procedure.

Examples

Dim prof1 As New Profile      ' Create new profile set to default values
Dim loc1 As New Location      ' Create new location value
loc1.XYZ(10,20,30,0,180,20)   ' Define position to move to
Move.Loc(loc1, prof1)         ' Move to loc1 using prof1