What Robot Arm Motion Commands Are Available

MoveL && MoveC && MoveJ

These commands are similar to common industrial and collaborative robot arms on the market.

Users set the start and end points of the path for these motion commands, along with some operational parameters such as velocity, acceleration, and blending radius. The system automatically calculates path points and required time based on internal constraints.

SpeedL && SpeedJ

These commands do not specify a motion endpoint, but instead specify a direction of motion. The robot will continue moving until collision or limit is reached.

MovePT && MovePVT && MovePVAT

These commands specify position, velocity, and acceleration values for each joint at a sequence interval, and the robot arm moves according to that sequence.

These commands are typically used when users plan a specific trajectory themselves. For example:

If the robot arm is currently at point A and needs to move to point B, with the intermediate path and interpolation method already generated offline by the user (often these motions are not simple MoveL or MoveJ), the generated offline data can be used to control the robot arm through this command.

Note that for a sequence, the velocity and acceleration at the start and end points are usually 0.

TowardJ

Specify a target joint position, and the robot arm will move toward that position.

Users can modify this target position, and the robot arm will move toward the newly set target.

This feature's robot arm motion is online motion.