Overview This chapter describes the basic types of movement in robotics: Jogging SMC_GroupJog2 PTP movements (Point to Point) MC_MoveDirectAbsolute MC_MoveDirectRelative CP movements (Continuous Path)
the CODESYS Control Win V
Jogging of Axis Groups You can use the SMC_GroupJog2 function block to move an axis group in space. The SMC_GroupJog2 function block has two Boolean inputs for each coordinate. One input is for traver
PTP Movements For PTP movements, the path in space depends on the kinematics and only the start and destination points are fixed. The movement is fully synchronous so that the acceleration, constant m
Overview CP movements (Continuous Path) are given by their geometric path. In the case of robotics, these are linear segments ( MC_MoveLinearAbsolute and MC_MoveLinearRelative ) and circular segments
Orientation Interpolation for CP Movements In the case of CP movements such as MC_MoveLinearAbsolute , MC_MoveLinearRelative , MC_MoveCircularAbsolute , or MC_MoveCircularRelative , any target orienta
Tolerances for Path Accuracy Tolerances for path accuracy can be set for axis groups. In the event of an unexpected movement of a dynamic coordinate system, these tolerances allow an axis group to cat
Waiting Between Movements SoftMotion Robotics provides the capability of waiting for a specific time between two movements. This may be necessary, for example, when a robot is supposed to grip a workp
