The following chapter contains variants of the Pick&Place program that build on each other:
- Create a basic Pick&Place program,
- Extension: Movement optimization
- Extension: Add loop
- Extension: Add input parameters
- Extension: Add case distinction and user dialog
What you will learn
- Duplicate programs
- Parameterizing the movement type
- Adjusting speed and blending
Extension: Parameterize robot movements¶
The basis for the program is the Pick&Place program of the previous chapter.
Duplicate the first program in the program overview by clicking on the arrow next to "Edit" and then on.
Edit the copy of the program and rename the program.
Now change the waypoint of the first
Home Positionfunction block from
PTPby setting the
PTPin the Trajectory Wizard.
Since PTP movements are always given as a percentage, the
Speedfield now appears with a red frame. Determine the speed of the movement and set it to 20%.
Save the changed parameters.
In addition we now change the
Blendingsettings of the approach positions.
To do this, change the
Movement Typesettings in
PTPfor all approach positions, set
Speedto 30% and increase
These settings should now be present in all approach positions of the three
Move Cartesianfunction blocks.
Repeat steps 4 and 5 for the last function block
Ready! (You can download the program here. At "My Programs" -> you can load external programs into drag&bot.)
The Linear (LIN) movement is a rectilinear movement. The robot moves on a straight line to a given target position.
The Point-to-Point (PTP) movement is a type of movement that is fastest for the robot to perform. The course of the path is not defined here, which is why the robot can also follow curved paths.
During looping over, a waypoint between two points is not approached exactly. By gradually swivelling into the new path, a fluid, soft movement is created.