6.1.3        Saving Point in ARC Mode

Different from PTP, the trajectory of ARC is an arc, you need to save three points to complete the arc trajectory. The method to save points in CIRCLE is the same as that of ARC.

Prerequisites

Ÿ   Dobot M1 has been powered on.

Ÿ   Dobot M1 has been connected to the PC successfully.

Ÿ   Dobot M1 has been connected to the emergency stop switch.

Procedure

NOTICE

You need to use other motion modes to confirm the starting point of the arc trajectory, because the middle point and the end point only can be confirmed in ARC mode. When saving points in ARC, please pay attention to the following tips to avoid generating an alarm.

Ÿ   Any two of the three points of the arc cannot be coincided

Ÿ   The three points of the arc cannot be in a line.

Ÿ   The arc trajectory cannot be out range of the workspace

Ÿ   The arm orientations in ARC and other mode that confirms the starting point should be the same. Otherwise, Dobot M1 will not work.

 

If the three points of the arc trajectory are point A, point B, and point C respectively, and point A is the starting point, point C is the end point, as shown in Figure 6.3.

Figure 6.3  Arc trajectory

 

Step 1         Select Cartesian from Cartesian drop-down list on the Operation Panel page, and click the Cartesian coordinate buttons to jog Dobot M1 to a point called point A.

Step 2         Select Playback on the M1Studio page.

The Playback page is displayed.

Step 3         Select Add At Last on the Playback page.

Step 4         Select PTP > MOVJ on the Playback page, and click Add Motion Command to save point A.

Step 5         Click the Cartesian coordinate buttons on the Operation Panel page to jog Dobot M1 to another point called point B.

Step 6         Select ARC > Transition Pos on the Playback page, and click Add Motion Command to save point B.

Step 7         Click the Cartesian coordinate buttons on the Operation Panel page to jog Dobot M1 to another point called point C that is not coincided with point A and point B. The three points are not in a line.

Step 8         Click Add Motion Command to save point C.

 NOTICE

You cannot set the pause time when point A moves to point B. Otherwise, Dobot M1 will not work.

 

Step 9         Click Start, and you will find that Dobot M1 moves as an arc. The information of saved points in ARC is shown as Figure 6.4.

Figure 6.4  Information of saved points in ARC

 














 Issue V1.2.1 (2019-04-10)User GuideCopyright © Yuejiang Technology Co., Ltd