4.3.3 Direction
The [Direction] command allows you to specify the motion relative to the coordinate system or TCP, so that the robot can move relative to the specified direction until the stop condition of the [Until] command is met or the maximum distance set in [Direction] is reached.
- The [Direction] must be used under the [MoveL].
- The [Direction] should be used with the [Until].
Settings
Coordinate: You can set the coordinate system used for motion at this node. You can use a shared coordinate system for the [Move] node, or a custom coordinate system.
- Direction: You can set the movement direction of the robot under the specified coordinate system, which can be the axial direction of the coordinate system or the custom direction.
-Max distance: You can set the maximum distance the robot can run in the direction.
If the distance for the stop condition of the [Until] is greater than the [Max distance], the [Max distance] will be the maximum extent of the motion.Shared parameter: You can use the relevant parameters set in the [MoveL] node. You can also define the values of [Tool Speed] and [Tool Acceleration] in the [Direction] node.
Add [Direction]
- Tap [Move]
under the [Basic] program node to add [Move] node to the program tree and set the [Move] node to [MoveL]. - Tap [Direction]
under the [Basic] program node to add a [Direction] node under the [MoveL] node. - Select [Direction] in the program tree, and set the parameters in the [Command] interface.
- You can add [Until]
to set the stop condition for movement in the direction. See "4.3.5 Until" for the [Until] command.