Basic Move Settings
Basic move settings of move-type Steps are used to set the velocity and motion type for the robot when it moves to the waypoint.
Pick or place
Setting this parameter facilitates checking the logic of the Mech-Viz project. Please select a proper option according to the on-site situation and ensure that the Step used to pick is placed before the Step used to place.
Unspecified |
Default value |
Pick |
Please select this option when the move-type Step is before “Vision Move”. |
Place |
Please select this option when the move-type Step is after “Vision Move”. |
Motion type
Joint move |
Joint motion, which guides the robot to move in a curved path. It is less likely to reach singularities in the path for joint motion.
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Linear move |
Linear motion, which guides the robot to move linearly.
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Velocity & Acceleration
Velocity and acceleration determine how fast the robot can move. Usually, the set acceleration should be lower than the velocity. When the set acceleration is higher than the velocity, the robot will move in a choppy way.
| The velocities of Vision Move and its prior and subsequent Steps should be relatively low to ensure that the objects can be picked steadily. |
Blend radius
Usually, the default setting can be used.
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The blend radius refers to the distance between the target point and the point where the robot starts to turn. The larger the blend radius, the more smoother the robot motion transitions are. If the robot moves in a relatively small space, please set the blend radius to a smaller value.
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If the robot moves in a relatively large space without obstacles and the distance between two consecutive path segments is long, please set the blend radius to a larger value.