EPSON LS3-401S机器人学习笔记 4

Robot arm orientations

 

 

Robot motion commands

Homing the robot

The Home command moves the robot to a user defined "park" or "idle" position. This command works for all robots. It is mainly used for absolute encoder robots that normally do not need to be mechanically homed. Use the HomeSet command to set the home position and the Hordr command to set the home order.

Home命令将机器人移动到用户定义的“停放”或“闲置”位置。这个命令适用于所有机器人。它主要用于通常不需要机械home的绝对编码器机器人。使用home命令设置home位置，使用Hordr命令设置home顺序。

 

Point to point motion

Point to point (PTP) commands move the robot from its current position to a specified point. Motion may not be in a straight line.
To set the speed for point to point commands, use the Speed command. To set acceleration and deceleration, use the Accel command.

点到点(PTP)命令将机器人从当前位置移动到指定的点。运动不一定是直线的。

要设置点对点命令的速度，请使用速度命令。要设置加速和减速，请使用Accel命令。

 

Linear motion

Linear motion commands move the robot from its current position to a specified point in a straight line. Liner motion is a CP (Continuous Path) motion.
To set velocity (speed) for straight motion, use the SpeedS command. To set acceleration and deceleration, use the AccelS command.

直线运动指令将机器人从当前位置沿直线移动到指定的点。线性运动是一种连续路径运动。

要为直线运动设置速度(速度)，使用速度命令。使用AccelS命令设置加速和减速。

 

Curves

Curves commands move the robot in a circular arc. Curves is a CP (Continuous Path) motion.
To set velocity (speed) for Curves, use the SpeedS command. To set acceleration and deceleration, use the AccelS command.

曲线指令使机器人沿一个圆弧移动。曲线是CP(连续路径)运动。

要设置曲线的速度(速度)，使用速度命令。使用AccelS命令设置加速和减速。

Joint motion

Controlling position accuracy

Use the Fine command to adjust position accuracy for the end of a motion command. Fine specifies, for each joint, the allowable positioning error for detecting completion of any given move. The lower the Fine settings, the more accurate the final position of the joint, which can cause slower performance. Conversely, large Fine settings can speed up motion commands, but position accuracy will decrease. For many applications, the default settings can be used.

使用Fine命令调整位置精度为结束的运动命令。Fine指定，为每个关节，允许定位误差检测完成任何给定的移动。较低Fine设置，更准确的最终位置的关节，这可能导致较慢的性能。反之，较大Fine设置可以加速运动命令，但位置精度会降低。对于许多应用程序，可以使用默认设置。