Appendix B 06/2005 Danaher Motion
The following graph shows MOVE as seen in joint-space.
44
48
52
56
60
64
68
72
76
80
84
40
50
60
70
80
90
XY
The following graph shows MOVES as seen in world-space.
-300
-200
-100
0
10 0
200
30 0
50 0
52 0
54 0
56 0
58 0
60 0
62 0
64 0
66 0
68 0
70 0
XY
There are four commands to make point-to-point movement in robot groups. There are two
commands to interpolate the motion (MOVE and MOVES) and two commands to define the
target point (JOINT and LOCATION). The total combination of these gives four options.
LOCATION target JOINT target
Cartesian-Interpolation MOVES #{400,400,0,0} MOVES {45,45,0,0}
Joint-Interpolation MOVE #{400,400,0,0} MOVE {45,45,0,0}
CONTOURING
Contouring connects different motions by defining the final velocity for each movement. This
way, the motion does not stop at the segment. It is continued with the next motion. This
method is applicable in one-axis applications, but has several drawbacks that become more
prominent in multi-axis applications:
The angle between the movements' direction must be zero. Otherwise, a jump in
velocity occurs.
It is not possible to connect arc with linear segments without a jump in acceleration.
You must calculate the achievable final velocities on each segment to stop after the last
segment.
178 Rev E M-SS-005-03
