7. Examples#

Here is an example of a very simple program that makes the robot’s TCP follow a square path, using the MoveLin command:

// Activate and home the robot
ActivateRobot
Home

// Move to zero position
MoveJoints(0,0,0,0,0,0)

// Move to starting position
MovePose(140,-100,250,0,90,0)

// Perform a square motion
MoveLin(140,100,250,0,90,0)
MoveLin(270,100,250,0,90,0)
MoveLin(270,-100,250,0,90,0)
MoveLin(140,-100,250,0,90,0)

// Move back to zero position
MoveJoints(0,0,0,0,0,0)

Figure 37 shows the result of four of the motion commands.

(a) MovePose(140,-100,250,0,90,0) — Figure 37 The four separate robot positions that define the motion sequence#

(b) MoveLin(270,100,250,0,90,0) — Figure 37 The four separate robot positions that define the motion sequence#