Move.OneAxis Method

Convenience method to move a single axis of a robot.

Move.OneAxis (axis, axis_position, relative_flag, profile_1)

Prerequisites

High power to the robot must be enabled.
The robot must be homed.
The robot must be Attached by the thread.
An axis can be moved even if it or other axes are out-of-range of their software limit stops so long as the motion moves the axis towards the in-range region. This method and jog control are the only means for automatically moving axes that are out-of-range.

Parameters

axis

A required numeric expression that specifies the number of the robot’s axis that is to be moved, 1-n.

axis_position

A required numeric expression that specifies the new position of the axis as either an absolute position or a relative position, in units of either millimeters or degrees as appropriate.

relative_flag

A required numeric expression that is interpreted as a Boolean that indicates if the axis_position is an absolute axis position (False) or a relative value (True).

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 method is primarily a convenience and diagnostic function that moves a single axis of the Attached robot. If the relative_flag is True, the new axis position is computed by adding the axis_position value to the final axis position of the previous motion. Otherwise, the axis_position is taken as the new absolute position for the axis.

When this motion is generated, the positions of all of the other axes of the robot remain unchanged.

Once the OneAxis method computes the desired position for each axis, the motion execution is identical to the Move.Loc method except that Straight-line motions are not permitted and this method permits axes to be outside of their software limit stops.

This motion can be blended with the previous and the next motions as desired. The performance parameters are defined by profile_1 (e.g. Speed, Accel, Decel, AccelRamp, DecelRamp, InRange).

Examples

Dim prof1 As New Profile      ' Create new profile set to default values
Move.OneAxis(1,20,True,prof1) ' Increment axis 1 by 20 mm or deg