Dynamic Move

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 guides the robot to move according to the highest pose in the corresponding Vision Look Step, and therefore the camera can be at a proper distance from the workobject.

Usage Scenario

This Step is usually used in EIH mode.

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.

Z Offset (Highest Workobject to Waypoint)

Default Value: 0

Instruction: When the camera is mounted in the EIH mode, the distance between the camera and the workobject should remain unchanged when the robot picks the workobject. Once this parameter is set, the waypoint Z coordinate corresponding to “Dynamic Move” will be adjusted according to the Z value of the highest pose from the Vision Look Step.

Waypoint Z coordinate = Z offset + highest workobject pose Z coordinate

Lower Limit of Robot Pose Z

Default Value: -10 m

Instruction: The min value of the robot pose’s Z that the real robot TCP is allowed to reach.

Basic move settings

Please refer to Basic Move Settings for detailed information.

TCP & Fast Settings

Please refer to Waypoint Type for detailed information.