FollowMove Object

FollowMove object moves the robot along with the specified path while following so that the force to the specified direction will be "0".

This object is used for a move of the fixed path of operation targets such as opening/closing the door. In the case of the position control, the operation targets may get damages since extra force is applied if the trajectory moves. However, FollowMove object controls the applied force to be "0". Therefore, the robot can move operation targets without teaching the accurate trajectory.

The above figure is an image of a motion by the FollowMove object. The object adjusts the position or the orientation so that the force which is applied to the directions (white arrows) will be "0" while the robot moves along the trajectory (blue arrow).

The FollowMove object will be succeeded when the end conditions are satisfied while the robot moves the specified trajectory. The end conditions related to positions and I/O are available.

Each end condition sets whether to use in PosCheckEnabled or IOCheckEnabled. If no end condition is set, the object will always be succeeded. When several end conditions are set, you can select how to combine the end conditions from AND or OR in EndCheckOperator.
Each condition is as follows:

End condition	Success condition
End conditions related to position	Satisfy either one of the following before moving the robot moves in the specified trajectory:
	When PosCheckType is RobotPlane: Satisfy the state set by PlaneEndCondition for Plane set by PlaneNumber.
	When PosCheckType is RelativePlane: Satisfy the state set by PlaneEndCondition for the relative plane set by PlaneRelativeX, PlaneRelativeY, PlaneRelativeZ, PlaneRelativeOrg, PlaneRelativeOrient, PlaneAxes, PlaneRelativeRobotLocal. Input bit specified by IOCheckInputBit should be the state specified by IOCheckInputStatus before moving the specified trajectory.
End conditions related to I/O	Input bit specified by IOCheckInputBit should be the state specified by IOCheckInputStatus before moving the specified trajectory.