Move by List

Note

Contents of this Step are under maintenance. If you need more information about this Step with urgency, please contact us at docs@mech-mind.net.

Function

This Step is used to set multiple waypoints in the path according to the list and specify the way to move to those waypoints, and guide the robot to move to the waypoints in sequence.

Parameter Description

Move-Type Step Common Parameters

Please refer to General Parameters of Move-Type Steps for detailed information.

Held Workobject Collision Detection Settings

Please refer to Held Workobject Collision Detection Settings for detailed information.

Note

Not Check Collision is usually used in the first or second move-type Steps after the robot picks the object. It may increase the risk of collision. Please enable with caution.
Enabling Not Check Collision with Scene Object will not affect the collision detection between the held carton and the placed cartons. When there are scene objects under the pallet, this function can be used to avoid solution selection failure for palletizing.

Index

Starting Index

The index of the waypoint to be executed. For example, the index of the first waypoint is 0, if you want the robot to move from the third waypoint in the list, please set the value to 2.

Current Index

The index of the waypoint currently being executed.

All Waypoints in One Move

Once this parameter is selected, the Index will not be disabled and the robot will move through all waypoints in the list in sequence at once.

Use Basic Move Settings at Global Scale

Once this parameter is selected, all waypoints in the move list will use the same Basic Move parameters.


Basic move settings

Please refer to Basic Move Settings for detailed information.

Waypoint Type

Please refer to Waypoint Type for detailed information.

Move List

Add the waypoints in the move list in sequence manually and set corresponding parameters.

Click + to add a waypoint at the end of the list, and click - to delete the selected waypoint.

../../../../_images/move_list_10.png
Add TCP List

You can add multiple waypoints as TCP in the list at once.

Input TCP as individual lines in the Add TCP Pose List window.

../../../../_images/move_list_11.png
Add JPs List
../../../../_images/move_list_12.png