运动记录指令
15.4.9 Motion record command
15.4.9.1 PathRecStart
Explanation |
Start recording the robot’s path. It is a stop lookahead command. After executing PathRecStart to initiate path recording, the supported motion types for recording include MoveL, MoveJ, MoveAbsJ, MoveC, TrigL, TrigC, and TrigJ. During path recording, the execution of MoveC and TrigC commands cannot be interrupted; otherwise, the target points cannot be recorded. If MoveC or TrigC commands are interrupted, an error will be reported and execution will stop. |
Definition |
PathRecStart(); |
Example |
MoveL(p1,v1000, z50, tool0, wobj0); PathRecStart(); MoveL(p2,v1000, z50, tool0, wobj0); When lookahead reaches PathRecStart, it stops lookahead and waits for the motion before PathRecStart to complete before executing PathRecStart. Motion commands after this command will be recorded. |
15.4.9.2 PathRecStop
Explanation |
Stop recording the robot’s path and clear the recorded path data. It is a stop lookahead command. |
Definition |
PathRecStop(); |
Example |
MoveL(p1,v1000, z50, tool0, wobj0); PathRecStop(); MoveL(p2,v1000, z50, tool0, wobj0); When lookahead reaches PathRecStop, it stops lookahead and waits for the motion before PathRecStop to complete before executing PathRecStop. After this command, path recording will cease and the recorded path data will be cleared. |
15.4.9.3 PathRecBwd
Explanation |
Make the robot move backward along the recorded path. It is a stop lookahead motion command, and the motion of PathRecBwd will not be recorded. If there are commands that interrupt lookahead between motion instructions, when executing the recorded path, the turning zone of the trajectory before the lookahead interrupting command will be set to z0. After executing PathRecStart to initiate path recording, if an interrupt is triggered, the PathRecBwd command in the interrupt must precede other motion commands; otherwise, an error will be reported and execution will stop. PathRecBwd cannot be interrupted. If an interrupt is triggered while executing PathRecBwd, an error will be reported and execution will stop. |
Definition |
PathRecBwd(); |
Example |
MoveAbsJ(j1, v1000, z50, tool_weld); PathRecStart(); MoveL(p1,v1000, z50, tool0, wobj0); MoveAbsJ(j2, v1000, z50, tool_weld); PathRecBwd(); MoveL(p2,v1000, z50, tool0, wobj0); Two motion commands are recorded after PathRecStart. When executing PathRecBwd, the robot will perform path backtracking, moving from j2→p1→the robot’s position when executing PathRecBwd (j1) |
15.4.9.4 PathRecFwd
Explanation |
Make the robot move backward to the position where PathRecBwd was executed. It is a stop lookahead motion command, and the motion of PathRecFwd will not be recorded. If there are commands that interrupt lookahead between motion instructions, when executing the recorded path, the turning zone of the trajectory before the lookahead interrupting command will be set to z0. After executing PathRecStart to initiate path recording, if an interrupt is triggered, the PathRecFwd command in the interrupt must not be followed by any motion commands; otherwise, an error will be reported and execution will stop. PathRecFwd cannot be interrupted. If an interrupt is triggered while executing PathRecFwd, an error will be reported and execution will stop. |
Definition |
PathRecFwd(); |
Example |
MoveAbsJ(j1, v1000, z50, tool_weld); PathRecStart(); MoveL(p1,v1000, z50, tool0, wobj0); MoveAbsJ(j2, v1000, z50, tool_weld); PathRecBwd(); PathRecFwd(); When executing PathRecBwd, the robot performs path backtracking [j2→p1→robot’s position when executing PathRecBwd (j1)]. At this point the robot is at position j1. When executing PathRecFwd, the robot will move from j1->p1->j2 back to position j2. |