﻿ 2.3.4.2 Point to Point Mode (PTP)

2.3.4.2    Point to Point Mode (PTP)

PTP mode supports MOVJ, MOVL, and JUMP, which means point to point movement. The trajectory of playback depends on the motion mode.

   MOVJ: Joint movement. From point A to point B, each joint will run from initial angle to its target angle, regardless of the trajectory, as shown in Figure 2.7. Figure 2.7  MOVL/MOVJ mode

   MOVL: Rectilinear movement. The joints will perform a straight line trajectory from point A to point B, as shown in Figure 2.7.

   JUMP: From point A to point B, The joints will move in MOVJ mode, of which the trajectory looks like a door, as shown in Figure 2.8.

1.         Move up to the lifting Height (Height) in MOVJ mode.

2.         Move up to the maximum lifting height (Limit).

3.         Move horizontally to a point that is above B by height.

4.         Move down to a point that is above B by height, which the height of the point is that of point B plus Height.

5.         Move down to Point B. Figure 2.8  JUMP mode

In JUMP mode, if the starting point or the end point is higher than or equal to Limit, or the height that the end effector lifts upwards is higher than or equal to Limit, the trajectory is different to that of Figure 2.8. Assuming that point A is the starting point, point B is the end point, Limit is the maximum lifting height, and Height is the lifting height.    Point A and point B are both higher than Limit, but point B is higher than point A.      Point A is lower than Limit, but point B is higher than Limit.     Point A and point B are both lower than Limit, but the height that the height of point A plus Height and that of point B plus Height is higher than Limit. 