The following pages provide detailed information on the methods of the Move Class. This class provides the means for issuing motion commands to a robot.
The GPL system supports position, velocity, and torque-controlled motions. In the standard case of position-controlled motions, a Move method requires two arguments: a motion destination and a motion performance specification. Typically, a Location Object specifies the destination and a Profile Object defines the performance parameters. The Location can specify the destination in either Cartesian or joint coordinates and includes clearance position information that is utilized by selected Move methods. The Profile specifies the type of path to follow, i.e. straight-line or joint interpolated and how fast the robot is to move.
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.
The table below summarizes the methods described in greater detail in the following sections.
| Member | Type | Description |
|---|---|---|
|
Method |
Moves to the clearance position for a specified Location. |
|
|
Method |
Moves the tool tip of the robot along an arc path defined by three Locations. |
|
|
Method |
Moves the tool tip of the robot around a complete circle defined by three Locations. |
|
|
Method |
Pauses execution of motions for a specified period of time, in seconds. |
|
|
Method |
Moves extra, independent axes during the next motion to a Cartesian Location. |
|
|
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. |
|
|
Method |
Basic instruction to move to a specified destination Location. |
|
|
Method |
Convenience method to move a single axis of a robot. |
|
|
Method |
Moves to a Location that is relative to the final position and orientation of the previous motion. |
|
|
Method |
Sets or changes the specific mode, axis and speed during jog (manual) control mode. |
|
|
Method |
Sets the changes in position and orientation for the Real-time Trajectory Modification mode. |
|
|
Method |
Sets new target speeds and accelerations for all axes during velocity control mode. |
|
|
Method |
Sets new target torque output levels for all motors in torque control mode. |
|
|
Method |
Initiates execution of jog (manual) control mode. |
|
|
Method |
Initiates a trajectory mode that permits a GPL program to dynamically modify a planned path while the path is being executed. |
|
|
Method |
Starts / stops automatic control of an analog output based upon a robot's tool tip speed. |
|
|
Method |
Initiates execution of torque control mode for one or more motors. |
|
|
Method |
Switches all axes of a robot to velocity control mode in place of position control mode. |
|
|
Method |
Terminates execution of any active special trajectory control modes. |
|
|
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. |
|
|
Method |
Pauses GPL program execution until the current motion is completed. |