MoveJump#

With this command, the robot moves up/down its end-effector a certain distance (retract motion along a line and without changing its orientation), then moves it to a pose that is a certain distance over/under the target pose (lateral motion), and finally moves it down/up to the target pose (approach linear motion without changing its orientation), as illustrated in Figure 9. The MoveJump command is highly optimized for fast pick and place motion and results in much faster cycle times than when using a simple sequence of MoveLin - MovePose - MoveLin commands.

The MoveJump command is not supported (and must not be used) in time-based mode (see Section 2.4).

The parameters defining the trajectory of the end-effector in a MoveJump motion are set by the commands SetMoveJumpHeight and SetMoveJumpApproachVel (see Figure 11).

Syntax#

MoveJump(x,y,z,γ)

Arguments#

  • x, y, z: the target position for the TRF with respect to the WRF, in mm;

  • γ: the target orientation of the TRF about its z-axis with respect to the WRF, in degrees.

End-effector motion when using the MoveJump command

Figure 9 End-effector motion when using the MoveJump command#

Further details#

As with the MovePose command, the joint set corresponding to the target pose is calculated according to the desired robot posture and turn configurations, if such were set, or the one that is fastest to reach. Also, as with the MovePose command, if the complete motion cannot be performed due to joint limits, it will not even start, and an error will be generated. Note that since the robot uses the optimal (quickest) path in joint space, in the lateral motion, the end-effector follows a complex non-linear path. Finally, the speed and the acceleration during the MoveJump motion are defined by the SetJointVel and SetJointAcc commands.

Note

The MoveJump command is a joint-space command like MovePose. Therefore, if you execute two successive MoveJump commands or a MoveJump followed by a MovePose, you must first deactivate the blending, or else the MoveJump will not be completed as planned.

Usage restrictions#

This command is added to the robot’s motion queue and can only be executed when the robot is ready for motion, not in an error state and when no safety signal conditions are present. Otherwise, the robot will report one of the following:

  • [1005][The robot is not activated.]

  • [1011][The robot is already in error.]

Cyclic protocols#

In cyclic protocols, the MoveJump command is represented by MotionCommandID 45. See Section 4.2 for more details.