Can someone point me to the place in the Motoman docs that tells which program statements will cause the robot to come to a stop between moves? (Looked in the Inform and Operator's manuals; didn't see it.)
Thanks.
Can someone point me to the place in the Motoman docs that tells which program statements will cause the robot to come to a stop between moves? (Looked in the Inform and Operator's manuals; didn't see it.)
Thanks.
What are you stopping for?
If you're programming you can use:
WAIT
PAUSE
If you're troubleshooting you can use the step command.
Sorry, I wasn't clear in the question.
When a program has two moves, and the first move does not call for a full stop, certain statements in between the two moves will cause a stop, overriding the first move specification.
Example:
MOVJ P001 VJ=I033
SET I051 20
MOVJ P002 VJ=I033
Will the SET statement cause a full stop of the robot? (Probably not.)
How about DOUT? (Likely yes.)
We have observed certain behaviors; I wanted to check what we saw against the docs.
Since the original post, the immediate need has been met.
The series of MOVJ moves has a SET I051 between each move. (I051 holds breadcrumb.)
The original series had a PL=8 for each move. There was obvious reduction in speed at the transitions between moves, with a substantial hit to cycle time. (That's what prompted the question.)
When we removed the PL spec from the moves, there was no visible reduction in speed from move to move.
I would still like to check the docs.
pl comamand don”t refer to the speed.
use wait or pause.
rfm is the best choice
Gregory
The main purpose of a robot is to move from point A to point B, anything in between, loading a variable, checking for an input, forcing an output, call a routine, change payload, change tool will make the robot think (hesitate)
Can you walk and send text messages at the same speed if you were walking only ?
Hi,
if you don't want that the robot stops between moves, you have to take care of instuctions.
When you make the robot 'thinking' , it stops. So you have to forget instructions of structured langage (if then, while, switch...), timers and system variables (GETS instruction)
But as far as I know, there is no manual about that ( if someone has got one, I am interested on it )
I have also wondered why the robot sometimes stops between moves and at other places merges the moves fluently. I couldn't find a real pattern, so it is just trial and error for what lines you can insert between moves.
My observations are this:
- Comment lines slow down the robot and if you insert enough, make the robot stop (why?!? comment lines shouldn't be parsed...).
- A few simple GET, SET, etc. instructions are no problem.
- IFTHEN can also be used, but do not use ELSE.
- WAIT IN#1=ON always stops the robot, even if the input is already on.
- The stop behavior also depends on the path: distance and direction change between to points. Two points very close to each other make the robot stop sooner (less calculation time?)
PWAIT stops also the robot.