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6.
Programming the Robot Arm with CPRog
6.1
Program Elements
A Mover4 robot program is build out of the following 9 commands:
Lin The robot moves on a straight line from the
current position to the target position. The
velocity is defined in mm/s.
Joint Interpolates the axis from the current position to
the target position in joint coordinates. Velocity
is defined as percentage of the maximum joint
rotational velocity.
Relative A linear motion with a defined distance starting
at the current position. Velocity in mm/s.
Wait
Waits for a time span defined in ms.
DigitalOut Sets a digital output. The button on the left side
records the current gripper state.
Loop Iterates the included commands until a digital
input is set or the defined number of iterations is
reached.
If-Then-Else Executes two different command lines
depending on the state of a digital input.
ExternalMotion Passes control to an external program connected
via sockets, e.g. a vision system. See section 8.1
for details.
The language specification is found in section 10.
Summary of Contents for Robot arm mower 4
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