Motion Commands

PTP (point to point) motion commands are supported for PG robots. These include Go, TGo (Cartesian only), and Jump.

Joint motion is not synchronized for PG robots. When a motion command using more than one joint is executed, the joints do not complete their motion at the same time.

CP motion (linear interpolated) commands are not supported.

The Jump motion command is supported for PG robots that have a Z joint.

PASS operation with CP ON is not continuous. A PASS operation cannot be continued to the next operation as one smooth continuous motion in which an action to the first PASS operation/command slows down to move into another action in accelerating motion. Attempting a PASS operation via CP ON command will only operate the manipulator by one motion at a time.