Step Parameters¶
Fixed-Point Move¶
This Step specifies a fixed pose as the waypoint.
- Whether to send to robot
- Description: Whether to send the pose of this Step to the robot.
Example: If Plan and not send is selected, the “Path Planning” Step will not output the pose of this Step.
- Motion type
- Description: The motion type in which the robot moves to the corresponding pose in this Step.
Example: If joint move is selected, the robot will move to the corresponding pose in this Step with the joint movement.
- Robot pose type
- Description: Select the method to adjust the pose.
You can follow these steps to input the pose of the real robot.
Move the robot with the teach pendant, and record the TCP or joint positions.
Click Edit pose (if the robot pose is in the form of TCP) or Edit JPs (if the robot pose is in the form of joint positions) in the Step Parameters.
Enter the recorded TCP or JPs and click OK. Then the simulated robot will move to the corresponding pose.
Relative Move¶
This Step specifies the distance the robot moves along the Z-axis relative to the previous or next waypoint.
- Whether to send to robot
- Description: Whether to send the pose of this Step to the robot.
Example: If Plan and not send is selected, the “Path Planning” Step will not output the pose of this Step.
- Motion type
- Description: The motion type in which the robot moves to the corresponding pose in this Step.
Example: If joint move is selected, the robot will move to the corresponding pose in this Step with the joint movement.
- Move relative to
- Description: The reference pose when the robot moves.
Example: If Pre is selected, the robot will move based on the previous waypoint.
- Direction
- Description: The direction along which the robot moves.
Example: If Along workobject frame Z axis is selected, the robot will move along the Z-axis of the workobject reference frame.
- Distance
- Description: The distance that the robot moves along the direction of movement.
Vision Move¶
The vision points input to the “Path Planning” Step will be used in this Step.
- Whether to send to robot
- Description: Whether to send the pose of this Step to the robot.
Example: If Plan and not send is selected, the “Path Planning” Step will not output the pose of this Step.
- Motion type
- Description: The motion type in which the robot moves to the corresponding pose in this Step.
Example: If joint move is selected, the robot will move to the corresponding pose in this Step with the joint movement.