Industrial robot movement instructions
Usually industrial robot business movement instructions record position data, type of movement and speed of movement. If the type of movement and the speed of movement are not set during teaching of the industrial robot, the last set value is automatically used. The position data records the current position information of the industrial robot and records the position information while recording the motion instruction. The type of exercise specifies the trajectory of the movement between teaching points at the time of execution. Industrial robots generally support three types of motion: MOVJ, MOVL, and MOVC. Movement speed refers to the speed at which the robot performs the movement between teaching points.
First, the type of industrial robot joint movement:
When the industrial robot does not need to move to the current teaching point with the specified path, the type of articulation is used. The motion instruction corresponding to the joint type is MOVJ. In general, for the sake of safety, the starting point of the program uses the type of joint movement. The type of joint movement is characterized by its fastest speed and unknown path. Therefore, this type of movement is generally used at the space point and must be checked at a low speed before the automatic running of the program to observe whether the actual movement track of the industrial robot interferes with the surrounding equipment. .
Second, the type of linear motion of industrial robots:
When the industrial robot needs to move through a straight path to the current teaching point, the linear motion type is adopted. The motion instruction corresponding to the linear motion type is MOVL. The starting point of the linear movement is the teaching point of the previous movement instruction, and the ending point is the teaching point of the current instruction. For linear motion, the motion control point of the industrial robot goes straight during the movement, and the fixture's posture is automatically changed as shown in the following figure:
Third, industrial robot circular motion type:
When the industrial robot needs to use a circular path to move to the current teaching point, the circular motion type is adopted. The motion instruction corresponding to the arc motion type is MOVC.
1, a single arc
The three points determine the unique arc. Therefore, when the arc moves, three arc movement points need to be taught, namely P1 to P3, as shown in the following figure. If the teaching point P0 is a joint or a linear motion, the robot moves from point P0 to point P11 in a straight line before the circular motion starts. P11 point is the same point as the arc starting point P1.
2, continuous multiple arc
When it is necessary to continuously move a plurality of circular arcs, the two circular arc movements must be separated by a joint or a linear movement point, and the end point of the first arc segment coincides with the starting point of the second segment arc segment.
The program instructions are written as follows:
NOP
MOVJVJ=10------P0
MOVLVL=100-----P11
MOVCVC=100---P1 and P11 are the same
MOVCVC=100---P2
MOVCVC=100---P3
MOVJVJ=10------P4
MOVCVC=100----P5 is the same as P3 and P4
MOVCVC=100----P6
MOVCVC=100----P7
MOVLVL=100-----P8
END
3, arc speed
(1) P2 point operation speed is used for arc from P1 to P2.
(2) P3 point operation speed is used for the arc from P2 to P3.
Fourth, industrial robot movement reference diagram:
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