Command 2003: Moves the arm with 3D gate motion
Moves the manipulator in 3D gate trajectory, using three CP motions.
Command Syntax
- Option
Specify the target position specifying method and each option. The number of necessary parameters varies depending on the specified options. Speed / Accel setting affects the number of parameters.
Other options do not affect the number of parameters.
For Parameter 2 and later by options, follow the descriptions “2” and later.
Options are specified by Parameter 1.
| bit | Name | Description | |
|---|---|---|---|
| Parameter 1 | 15 | Till / Find / Sense | Specify Till, Find, and Sense options. 0 = not specify 1 = Till 2 = Find 3 = Sense |
| 14 | |||
| 13 | Parallel processing | Select whether to use a parallel processing 0 = No 1 = Yes | |
| 12 | CP | Select whether to use a path motion 0 = No 1 = Yes | |
| 11 | Speed / Accel | Specify whether to set Speed / Accel before executing the motion command. 0 = do not set 1 = set only Speed 2 = set only SpeedS 3 = set only SpeedR 4 = set only Accel 5 = set only AccelS 6 = set only AccelR 7 = set Speed and Accel 8 = set SpeedS and AccelS 9 = set SpeedR and AccelR | |
| 10 | |||
| 9 | |||
| 8 | |||
| 7 | ROT | Give priority to tool orientation change and determine motion speed and acceleration / deceleration 0 = do not use 1 = use | |
| 6 | Arch | When using Arch: Specify the arch number by an integer from 0 to 6 When not using Arch: Specify “7” | |
| 5 | |||
| 4 | |||
| 3 | reserved | Specify “0” | |
| ｜ | |||
| 0 |
- No Speed / Accel setting
In this case, use until Parameter 4.
Command No., Parameter 1, Parameter 2, Parameter 3, Parameter 4
| bit | Name | Description | |
|---|---|---|---|
| Parameter 2 | 15 | depart | Specifies the depart point over the target coordinate by a point number. |
| 14 | |||
| ｜ | |||
| 1 | |||
| 0 |
| bit | Name | Description | |
|---|---|---|---|
| Parameter 3 | 15 | approachStart | Specifies the approach start point over the target coordinate by a point number. |
| 14 | |||
| ｜ | |||
| 1 | |||
| 0 |
| bit | Name | Description | |
|---|---|---|---|
| Parameter 4 | 15 | destination | Specifies the target coordinate where the manipulator reaches to by a point number. |
| 14 | |||
| ｜ | |||
| 1 | |||
| 0 |
- With Speed / Accel setting
In this case, use until Parameter 5.
Command No., Parameter 1, Parameter 2, Parameter 3, Parameter 4, Parameter 5
| bit | Name | Description | |
|---|---|---|---|
| Parameter 2 | 15 | depart | Specifies the depart point over the target coordinate by a point number. |
| 14 | |||
| ｜ | |||
| 1 | |||
| 0 |
| bit | Name | Description | |
|---|---|---|---|
| Parameter 3 | 15 | approachStart | Specifies the approach start point over the target coordinate by a point number. |
| 14 | |||
| ｜ | |||
| 1 | |||
| 0 |
| bit | Name | Description | |
|---|---|---|---|
| Parameter 4 | 15 | destination | Specifies the target coordinate where the manipulator reaches to by a point number. |
| 14 | |||
| ｜ | |||
| 1 | |||
| 0 |
| bit | Name | Description | |
|---|---|---|---|
| Parameter 5 | 15 | Speed / SpeedS / SpeedR | Specifies the speed table number of the selected type by an integer from 0 to 15. *Specify “0” if acceleration and deceleration are not set. |
| ｜ | |||
| 8 | |||
| 7 | Accel / AccelS / AccelR | Specifies the acceleration/deceleration table number of the selected type by an integer from 0 to 15. *Specify “0” if acceleration and deceleration are not set. | |
| ｜ | |||
| 0 |
Response Syntax
Refer to the following.
Description
A combination of 3 CP motion.
Giving priority to tool orientation change by ROT option, the command determines motion speed and acceleration / deceleration.
For more information, refer to the following.
Command 2002: Moves the arm with 3D gate motion
Example
When the depart coordinate is P1, the approach start coordinate is P2, and the target coordinate is P3 without options.
| Command | Response |
| 07D3H 0070H 0001H 0002H 0003H | 07D3H 0000H 0000H |