Move

Description

Instructive Action: Defines a linear or nonlinear movement instruction.

Input Parameters

Movement Type (MT): Defines the movement type for the robot movement instruction based on a number value. Can be set to 0 for MoveAbsJ, 1 for MoveL and 2 for MoveJ. In case this input is left empty and an input is defined for the other input parameters, a value list will automatically be created. You can select MoveAbsJ, MoveL or MoveJ from the value list to define the desired Movement type. Joint Targets cannot be combined with MoveL and MoveJ instructions.

Target (T): Defines the movement target. A target can be generated by using a Robot Target or Joint Target component. If a Robot Target is combined with the movement type MoveAbsJ the robot target will be converted to a joint target declaration.

Speed Data (SD): Defines the speed data for the robot movement instruction. A custom Speed Data can be generated by using the Speed Data component or a number value can be used as an input. Only predefined speeddata values defined by ABB are allowed as number input. Allowed number values are 5, 10, 20, 30, 40, 50, 60, 80, 100, 150, 200, 300, 400, 500, 600, 800, 1000, 1500, 2000, 2500, 3000, 4000, 5000, 6000 and 7000.

Zone Data (ZD): Defines the zone data for the robot movement instruction. A custom Zone Data can be generated by using the Zone Data component or by a number value as input. Can be set to -1, 0, 1, 5, 10, 15, 20, 30, 40, 50, 60, 80, 100, 150 and 200. More information on this topic can be found here. Note: If this value equals -1 the precision is interpreted as fine.

Variable Input Parameters

Through the right-click menu of the component the following variable input parameters can be added:

Time (TI): Defines the total time which the robot will move in seconds. This overwrites the defined speeddata value. Set a negative value to not overwrite the defined speeddata value. By default the input is set to -1.

Override Robot Tool (ORT): Defines the robot tool that will be used for the defined movement. If this input is left empty the robot tool that is attached to the used robot will be used.

Override Work Object (WO): The work object (coordinate system) to which the target position in the instruction is related. By default wobj0 is used. A work object can be created by using the Work Object component.

Set Digital Output (DO): If this input is left empty a normal movement type instruction will be defined (MoveAbsJ, MoveL or MoveJ). If a valid digital output is defined the state will be set after this movement. In case of a linear movement this will done by defining a MoveLDO instruction, and in case of a joint movement this will result a MoveJDO instruction. If the movement type is an absolute joint movement an additional instruction will be set for the digital output (SetDO) after the movement instruction. A digital output can be defined by using the Set Digital Output component. By default an empty Digital Output parameter is set.

Output Parameters

Move (M): Contains the movement instruction.

Usage

Simulation: Plug the movement output of this component into the movement input of the Inverse Kinematics component to get the robot axis values for the target, work object and robot tool that are defined for this move instruction.

Code Generation: Plug the movement output of this component into the Actions input of the RAPID Generator component to define a movement instruction in the RAPID program module.