User`s guide

Motion Control Instructions
V+ processes robot motion instructions differently from the way you might expect. With V+,
a motion instruction such as MOVE part is interpreted to mean start moving the robot to
location 'part'. As soon as the robot starts moving to the specified destination, the V+
program continues without waiting for the robot motion to complete. The instruction
sequence:
MOVE part.1
SIGNAL 1
MOVE part.2
SIGNAL 2
causes external output signal #1 to be turned on immediately after the robot begins moving
to part.1, rather than waiting for it to arrive at the location. When the second MOVE
instruction is encountered, V+ waits until the motion to part.1 is completed. External output
signal #2 is turned on just after the motion to part.2 begins. This is known as forward
processing. See Breaking Continuous-Path Operation for details on how to defeat forward
processing.
This parallel operation of program execution and robot motion makes possible the procedural
motions described later in this chapter.
Basic Motion Operations
Joint-Interpolated Motion vs. Straight-Line Motion
The path a motion device takes when moving from one location to another can be either a
joint-interpolated motion or a straight-line motion. Joint-interpolated motions move each
joint at a constant velocity (except during the acceleration/deceleration phases-see Robot
Speed). Typically, the robot tool tip moves in a series of arcs that represents the least
processing-intensive path the trajectory generator can formulate. Straight-line motions
ensure that the robot tool tip traces a straight line, useful for cutting a straight line or laying a
bead of sealant. The instruction:
MOVE pick
causes the robot to move to the location pick using joint-interpolated motion. The
instruction:
MOVES pick
causes the robot to move the pick using a straight-line motion.
Safe Approaches and Departures
In many cases you will want to approach a location from a distance offset along the tool Z axis
or depart from a location along the tool Z axis before moving to the next location. For
example, if you were inserting components into a crowded circuit board, you would want the
Motion Control Instructions
V+Language User's Guide, v17.0
Page 180