Motion commands for industrial robots
Industrial robot motion commands typically record position data, motion type, and motion speed. If the motion type and speed are not set during industrial robot teaching, the previously set values are automatically used. Position data records the current position information of the industrial robot; this information is recorded along with the motion commands. The motion type specifies the trajectory between the taught points during execution. Industrial robots generally support three motion types: articulated motion (MOVJ), linear motion (MOVL), and circular motion (MOVC). Motion speed refers to the speed at which the robot performs motion between the taught points.
I. Types of Joint Movements in Industrial Robots:
When the industrial robot does not need to move along a specified path to the current taught point, the joint motion type is used. The motion instruction corresponding to the joint motion type is MOVJ. Generally speaking, for safety reasons, the joint motion type is used at the program starting point. The characteristics of the joint motion type are the fastest speed and unknown path. Therefore, this motion type is generally used at spatial points, and before the automatic program runs, it must be checked at low speed to observe whether the actual movement trajectory of the industrial robot interferes with the surrounding equipment.
II. Types of Linear Motion in Industrial Robots:
When an industrial robot needs to move along a straight path to the current taught point, a linear motion type is used. The corresponding motion command for linear motion is MOVL. The starting point of linear motion is the taught point of the previous motion command, and the ending point is the taught point of the current command. For linear motion, during the movement, the industrial robot's motion control point moves in a straight line, and the fixture posture automatically changes as shown in the figure below:
III. Types of Circular Motion in Industrial Robots:
When an industrial robot needs to move along an arc path to the current teach point, the arc motion type is used. The corresponding motion instruction for the arc motion type is MOVC.
1. Single arc
Three points determine a unique arc. Therefore, when performing arc motion, three arc motion points need to be taught, namely P1 to P3, as shown in the figure below. If the taught point P0 is a joint or linear motion, before starting the arc motion, the robot moves in a straight line from point P0 to point P11. Point P11 is the same point as the starting point P1.
2. Multiple consecutive arcs
When multiple circular arc movements are required, the two circular arc movements must be separated by a joint or linear movement point, and the end point of the first circular arc must coincide with the start point of the second circular arc.
The program instructions are written as follows:
NOP
MOVJVJ=10------P0
MOVLVL=100-----P11
MOVCVC=100 --- P1 and P11 are the same point.
MOVCVC=100---P2
MOVCVC=100---P3
MOVJVJ=10------P4
MOVCVC=100----P5 is the same point as P3 and P4.
MOVCVC=100----P6
MOVCVC=100----P7
MOVLVL=100-----P8
END
3. Circular motion speed
(1) The running speed of point P2 is used for the arc from P1 to P2.
(2) The running speed of point P3 is used for the arc from P2 to P3.
IV. Reference diagram for industrial robot motion:
