Programming The Robot Arm With Cprog; Program Elements - Commonplace Robotics Mover 4 User Manual

6. Programming the Robot Arm with CPRog

6.1 Program Elements

A Mover4 robot program is build out of the following commands:
ExternalMotion
Lin The robot moves on a straight line from the
current position to the target position. The
velocity is defined in mm/s.
Joint Interpolates the axis from the current position to
the target position in joint coordinates. Velocity
is defined as percentage of the maximum joint
rotational velocity.
Relative A linear or joint motion with a defined distance
starting at the current position. Velocity in mm/s
or percent.
Wait Waits for a time span defined in s.
Gripper The gripper command open (100%) or closes
(0%) the gripper.
DigitalOut Sets a digital output. The button on the left side
records the current gripper state.
Loop Iterates the included commands until a digital
input is set or the defined number of iterations is
reached.
If-Then-Else Executes two different command lines
depending on the state of a digital input.
Passes control to an external program connected
via sockets, e.g. a vision system. See section
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werden. for details.
Sub Allows to call sub programs to structure longer
tasks.
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