CADM MC600

Robotics

Motion instructions

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objectives
Motion types
Elements that describe a motion instruction
Position Register’s
Robot Speed
Termination types
Motion options
How to add and delete motion instructions
Using predefined positions
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Tp program motion instruction

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Joint/linear motion
Joint Motion
Causes the robot to move all required axes to the
destination position simultaneously. The motion
of each axis starts and stops at the same time.
Is programmed at the destination position. Joint Motion

Speed is specified as a percentage of the total default

speed, or in seconds. The actual speed of the
move is dependent on the speed of the slowest
axis.
Linear Motion
Linear Motion
Causes the robot to move the tool centre point in a
straight line from the start position to the
destination position.
Is programmed at the destination point.
Speed is specified in millimetres per second,
centimetres per second, inches per minute,
degrees per second or seconds.
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1: J @P[1] 100% FINE

Motion Type
Set for each move
Can be changed from the TP
Selected from the default motion instructions
table
Up to 4 default statements
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Circular motion

Causes the robot to move the TCP in an arc from the start
position through an intermediate to the destination
position

Is programmed at the intermediate position

Speed is specified in inches per minute, millimetres per

second and centimetres per minute
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Circular motion type

Shift + 1: J P[1] 100%

FINE
Touchup 2: C P[2]
P[3]
100mm/sec FINE
3: C P[4]
P[1]
100mm/sec FINE
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Define elements of a
motion instruction
Position Indicator

Position Indicator – Indicates that the robot

is at the taught position

J @ P[1] 100% FINE

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Touching up points

Set new ID?

This occurs when
you touch up a
point which is used
more than once in a
program.
Press YES to give a
new position
number.
Press NO will keep
the same position
number and will
update the points
that share the same
position number.
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Define elements of a motion instruction
Positional information tells us where the robot moves. This
includes the Position Type and the Position number
J P[1] 100% FINE
Position Type:
P: Position
PR: Position Register (predefined and recorded in a
specified register)
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Naming positions
With the cursor on the position number, press
ENTER to use the softkeys or keyboard to add a
position name.

1: J @P[1:START POSITION] 100% FINE

P[n] = (x, y, z, w, p, r, config)

Location Orientation Configuration

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Location of Configuration
TCP

Orientation
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Turn Number display configuration
J1 J4 J6
(F, L, U, T, 0, 0, 0)
Joint Placement Turn
Number
Joint Placement
FLIP Upward and downward placement of the
wrist
NOFLIP
LEFT Right and left placement of the arm
RIGHT For horizontally articulated robots only
UP Upward and downward placement of the
arm
DOWN
FRONT Backward and forward placement of the arm
BACK
Turn number
1: 180º – 539º The robot arm can reach the
same TCP with the arm bent differently, a
configuration
0: -179º – 179º identifier is needed to
specify the joint placement. The joint placement
varies for full
-1: -539º – -180º articulated robots (4 vs 6 axes
robots)

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Joint placement examples

Up

U, D - Up, Down (J3)

N, F - Non Flip, Flip (J5) Down

T, B - fronT, Back (J1)

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configuration
N, F - Non Flip, Flip

U, D - Up, Down

T, B - Front, Back

Conf:
Conf: B F
D
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Adding motion instructions
1. To record the position using the current default motion
instruction
a) Jog the robot to the location in the work cell where you want to
record the motion instruction
b) With the cursor on a blank line or on [END], press and hold the
SHIFT key and press F1 [POINT]. The instruction will be added to
the program automatically at the location of the cursor.
2. To record the position using one of the other three (there
are four total) default motion instructions.
a) Jog the robot to the location in the work cell where you want to
record the motion instruction
b) With the cursor on a blank line or on [END], press F1 [POINT]
c) Use the cursor to select a new default motion instruction
d) Press ENTER. This records the position and the motion instruction
to the line at the cursor location. This also defines the current
default motion instruction.
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3. To change the default motion instruction
a)Press F1 [POINT] to display the current default
motion choices
b)Press F1 [ED_DEF] to modify the default
values of Motion Type, Speed and Termination
4. To add other instructions

a)Press NEXT until F1 [INST] is displayed

b)Press F1 [INST] to select the kind of
instruction you want and use the appropriate
selections on the screen to build the instruction
c)Press ENTER to confirm selection
When Finished: Disable the Teach Pendant, and release the DEADMAN
switch
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Define elements of a motion instruction

Positional information tells us where the robot moves. This

includes the Position Type and the Position number.

J PR[1:HOME] 100% FINE

P[1] = LOCAL
PR[1] = GLOBALLY ACCESSIBLE

PR: Position Register (predefined and recorded in a specific

register)
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Position register
Position Registers
Position Registers allow positions to be
accessed globally in many programs
throughout the controller.
Use SHIFT + RECORD to store the robot’s
present position
Key Sequence
DATA
F1[Type]
Position Reg

Note: PRs use the UF and

UT that are currently active,
Not necessarily the ones they
were created in.
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Position register contd.
Use F4 [POSITION] to view the coordinate detail
Position Register data can be taught or entered manually
You should first record a position register
close to the real position with the same
configuration as the real position
Then edit it to the desired values
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When you record a

PR[n] it is recorded in
Cartesian Coordinates

If you want to have Joint

Representation (which is
typical for HOME pos.),
you must manually
change it from the
Position Information
screen
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Position register contd.
To use a Position Register in a motion instruction, put the
cursor on the position number and press F4
[CHOICE], choose Position Register
Type in the number of the Position Register desired from
the Position Register table
 The coordinate data is read from the Position
Register table when needed
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Displaying and setting Position Registers
1. Press DATA key
2. Press F1 [TYPE]
3. Select Position Registers.
4. To add a comment, move the cursor to the PR number and press
ENTER. When finished, press ENTER again.
5. To change the value of the PR, enter the new value by recording a
position (Step 6) or entering positional information (Step 8)
6. To record a position:
a) Turn on the teach pendant and press and hold the DEADMAN
switch
b) Jog the robot to the position you want
c) Hold down the SHIFT key and press F3 [RECORD]. The *
(asterisk) will change to an R to indicate the position has been
recorded
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7. To move to a recorded position register
a) Turn on the teach pendant and press and hold the DEADMAN
switch
b) Press and hold the SHIFT key and press F2 [MOVE_TO]
8. To enter positional information manually
a) Press F4 [POSITION]
b) To change the format of the position from Cartesian coordinates
to joint angles for from joint angles to Cartesian coordinates,
press F3 [REPRE] and select the coordinate system. The proper
joint angles or Cartesian coordinates will be displayed. The
position is automatically converted.
c) When you are finished, press F4 [DONE]
9. You clear position register press F5 [CLEAR]. This converts all
positional information to all asterisks (*******)
10.To use a position register as a statement within a TP program:
a) Record a position
b) Edit the position number
c) Press F4 [CHOICE] and select PR from the list.
d) Enter the PR number that was recorded from the DATA screen
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Position registers &
reference positions
HOME Position

REPAIR Position

SAFE Position

Other Positions
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Define elements of a motion instruction
SPEED
Indicates how fast the robot moves to a position.
J P[1] 100% FINE

Joint 1%-100% of motor speed

Sec/Msec
Linear Motion Inch/minute
Degree/second
Circular Motion Centimetres/minute
can be specified with R[]
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speed
Defines how fast the robot moves to a position
The motion type determines the units of speed
When the motion type is Joint
Robot speed is typically defined as either a
percentage of the maximum robot speed or time
When the motion type is Linear

Robot speed is typically defined by a velocity

(distance/unit of time)
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Speed contd.
While a program is running, you can
change the speed using the +% and -
% teach pendant keys.
Speed values range from 0.01%(very
fine) to 100% of the programmed
speed.
When a program is running, the robot
override speed (displayed in the top
right corner) is multiplied by the
programmed speed.
 For example, if the override
speed if 50% and the
programmed speed is 50%m
the robot will move at 25% of
the maximum speed
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Max speed option
The Motion Package option R809
enables max_speed (speed
element) for linear motion
types.
The max speed option allows you
to specify a linear motion that
will use the maximum speed
capability of the robot.
It improves cycle times in
Load/Unload applications by
speeding up long linear
motions
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Termination type
Termination Type is how the robot ends the move to the
position

J P[1] 100% FINE

FINE – Robot will stop at the destination point

CNT (Continuous) – Robot will decelerate as it approaches
the destination position but does not stop

*Highlighting the Termination Type and selecting

CHOICE allows you to change it*
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Fine termination
• The robot stops at the end of each move

J P[1] 100% FINE

L P[2] 2000 mm/s FINE
L P[3] 2000 mm/s FINE
P1
P2

Paused
Runnin
g

P3
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Continuous termination
• The robot “rounds” at the end of each move

CNT 0

P1 L P[2] 2000 mm/s CNT0

P2
L P[2] 2000 mm/s CNT100
CNT
50
L P[2] 2000 mm/s CNT75
CNT
L P[2] 2000 mm/s CNT50
75

CNT
100 P3
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CNT termination
• The robot “rounds” at the end of each move

CNT 0 J P[1] 100% FINE

P1 L P[2] 2000 mm/s CNTx
P2
L P[3] 2000 mm/s CNTx
CNT
50 Velocity
2000
CNT
75 1500
1000
CNT
100 P3 500

Distance
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CNT directional changes & speed
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CNT directional changes & speed
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CNT directional changes & speed
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Motion options
Motion option refers to additional instructions
given to the robot to determine what the robot
will do when it reaches its destination. These
options are used to provide information to
perform specific tasks during robot motion.

J P[1] 100% FINE OFFSET, PR[2]

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A motion instruction directs the robot to move in a specified
way to a specific location in the work cell using a
specified speed.
Motion instruction includes:
Motion type – how the robot moves to the
position
Positional information – where the robot
moves
Termination type – how the robot ends the
move to the position
Speed – how fast the robot moves to a position
Motion options – additional commands that
perform specific tasks during robot motion
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Motion guidelines
Use JOINT motion for the fastest long moves between
points which will give the shortest cycle time
Use LINEAR motion (max_speed option) for the fastest
linear path moves which will give the shortest cycle time
(especially for short motion)
Use FINE termination type to stop at a precise point at the
end of a task
Use CONTINUOUS termination type for the most
efficient movement around obstacles
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How robot frames are linked

Tool offset data (Utool) tells the controller where the Tool
Frame is relative to the centre of the faceplate

User Frame offset data (UFRAME) tells the controller

where the USER frame is relative to World frame

Positional data tells the controller where the Tool frame

is relative to the User frame
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Applying TOOL and User frames in a
program

Now that you have learned how to set a TOOL and

USER frame it is important to use them within your
program.
You must select the active TOOL and USER frame that
will be used when teaching points. Use the Jog Menu,
SHIFT + COORD to select the frames. The reason for
this is a position [POINT] is a record of where the TCP
is in relationship to the active USER frame.
A program taught in one user frame and tool frame
combination will not run if a different user and tool
frame combination is active.
2 program instructions are used to ensure the correct
combination is being applied during the program
execution.
These instructions are UTOOL_NUM=[value]
UFRAME_NUM=[value]
(A value of zero indicates that no user frame is used. This
means that world frame is used).

The example is using a

constant value to set the TOOL UTOOL_NUM=[1]
frame number
The example is using a constant
value to set the USER frame UFRAME_NUM=[1]
number

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Applying TOOL and user frames in a program

Select Offset/Frames

Select UTOOL or
UFRAME

Select Constant for a number

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Insert Tool and user frame
instructions
**A program must already exist**
1. Press F1 [INST] (Press the NEXT key is not
shown)
2. Select Offset/Frames then select the
UTOOL_NUM=… or UFRAME_NUM=
3. Select Constant and enter the number value of
the desired frame, then press ENTER
4. Be sure to insert both UTOOL_NUM and
UFRAME_NUM in the program. Repeat steps
1-3 as needed.