ROZUM ROBOTICS
PULSE DESK
Rev. 5, in effect from Q2 2019
Page
50 | 56
18.
In the parameter fields on the
Service panel
for
Point 6
, type in the same coordinates and
rotation angles as for
Point 2
. The only change you need to make is to adjust the Z coordinate
to a higher value so that the gripper at
Point 6
would be slightly above
Point 2
.
19.
Set up an intermediary waypoint to lift the gripper at Point 2. To do this, select
Close gripper
in the program body and click
.
In the displayed menu, select
Point
.
A new command line (default name
Point 7)
appears in the program body below
Close gripper
. The parameter fields on the
Service panel
for
Point 7
contain default zeros.
20.
In the parameter fields on the
Service panel
, specify the same coordinates and rotation angles
as for
Point 6
.
21.
To set intermediary waypoints to approach
Point 3
,
Point 4
, and
Point 5
, repeat the same
actions as in
Step 17
and
Step 18
. To specify the waypoint parameters use the same values as
for the basic points, making sure to change the Z coordinate to a higher value.
22.
To set intermediary waypoints to lift the gripper at
Point 3
,
Point 4
, and
Point 5
, repeat the
same actions as in
Step 19
and
Step 20.
Make sure that the parameters of the intermediary
points are identical to the ones preset for the waypoints in
Step 21
.
23.
Set up the end pose. To do this, click and choose
Point
. In the parameter fields on the
Service panel
, set up the same coordinates and rotation angles as for the start position.
After completing the actions as described above, we get a motion trajectory comprising
the total of 15 points.
Summary of Contents for Pulse
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