Sets and gets Boolean indicating if the robot’s tool tip is to follow a straight-line path or if the path will be a function of the robot’s geometry.
profile_object.Straight =<new_value>
-or-
...profile_object.Straight
Prerequisites
Takes effect when the profile_object is passed as a parameter to a Move Class method and the specified motion segment is generated.
Parameters
None
Remarks
For certain motions, the path of the robot’s tool or the part being held by the robot is important and moving along a straight line is desirable. In other cases, the path may not be important. In the latter case, the robot may move faster if the path is defined by interpolating between the joint angles of the initial and final Locations.
If the Straight property is True, by making use of the system’s built-in knowledge of the robot’s geometry (i.e. kinematics), the robot’s tool tip is moved along a straight-line path in Cartesian space. If Straight is False, the system will interpolate in joint angles to move the robot to its destination.
If the robot is a simple 1, 2, or 3 degree-of-freedom Cartesian mechanism with all linear axes, there is no difference between straight-line and joint interpolated motions. However, if the Cartesian robot has a rotary theta axis or if the robot is a non-Cartesian mechanism with rotary or parallel axes, the two motion types are quite different.
In situations where the path is not important, joint interpolated motions requires less processor time and the robot will often move more quickly.
By default, when a New Profile is created, Straight is set to False.
Examples
Dim prof1 As New Profile ' Create new profile set to default values
prof1.Straight = True
Move.Loc (loc1, prof1) ' Perform motion to previously defined
' location, loc1 by moving along a straight path
See Also