SPEL_Jump3

Description

Moves the arm with 3D gate motion for a 6-axis robot. This is a combination of two CP motion and one PTP motion.

Common Inputs and Outputs

Reference: Function Blocks Common Inputs and Outputs

Inputs

DepartPoint

UINT desired depart point.

ApproPoint

UINT desired approach point.

DestPoint

UINT desired destination point.

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 - Jump3CP Statement"

Example

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