SPEL_Jump

Description

Moves the arm using gate motion for a SCARA robot.

Common Inputs and Outputs

Reference: Function Blocks Common Inputs and Outputs

Inputs

Point

UINT Desired point number.

TargetType

UINT Specifies the method to reach the target position.

• 0 = Target specified by point number.

• 1 = Target specified by position in the pallet.

• 2 = Target specified by coordinates of the pallet.

PalletNum

UINT Desired pallet number.

PalletPosOrCol

UINT TargetType=0 specifies 0.

UINT TargetType=1 specifies pallet position.

UINT TargetType=2 specifies pallet column.

PalletRow

UINT TargetType=0 specifies 0.

UINT TargetType=1 specifies 0.

UINT TargetType=2 specifies pallet row.

ArchNum

UINT Specifies arch

0-6 = using arch

7 = not using arch

MaxTime

DINT The maximum execution time allowed.

Operation

Reference: Function Blocks General Operation

For more details, refer to the following manual:

"SPEL+ Language Reference manual - Jump Statement"

Example

To move the robot to point P2 using gate trajectory, enter the value for Point and run the Function Block as shown below.