6.10.1      Example of the Trajectory

This topic describes how to use the motion modes according to the real trajectory when Dobot M1 is running.

Figure 6.45 shows the real trajectory when Dobot M1 is running. Figure 6.46 shows the coordinates of the trajectory.

NOTICE

This topic only describes the motion modes that need to be used and precautions for implementing playback, without details about the trajectory. For details on how to implement playback, please see 6.2 Operating Teaching and Playback.

 

Figure 6.45 Trajectory of Dobot M1

 

Figure 6.46  Cartesian coordinate of the trajectory

 

If point A is the starting point, and Point B is the end point. From Point A to Point J, the coordinates are listed as Table 6.11.

Table 6.11 Cartesian coordinates

Point

Coordinate (x,y,z,r)

A

(270,-244,110,0)

B

(400,0,110,0) (Singular point)

C

(366,111,110,0)

D

(194,111,110,0)

E

(194,277,110,0)

F

(85,250,110,0)

G

(-44.4458,239.5284,110,33.08) (The middle point of the arc)

H

(-120.6913,164.5902,110,65.6601)

I

(372.225,-63.2786,110, -148.8402)

K

(351.7533,-113.7360,110, -160.2802) (The middle point of the circle)

J

(323.1731,-115.7006,110, -170.5002)

 

Figure 6.47 shows the example of the saved points list.

Figure 6.47  Example of the saved points

 

Ÿ   From point A to point B (0->1): The trajectory is non-linear, and point B is a singular point. So MOVL or ARC mode cannot be used, but MOVJ mode is applicable. For details about singular point, please see 6.1.2 Alarms Description.

Ÿ   From point B to point C (1->2): The trajectory looks like a door. So JUMP mode is required. You need to set Height and Limit when saving point. The trajectory in JUMP mode depends on Height and Limit. For details, please see 2.3.4.2 Point to Point Mode (PTP).

Ÿ   From point C to point D (2->3): The trajectory is a straight line. So MOVL mode is required. The arm orientations of point D and point C must be the same. Otherwise, an alarm will be generated.

Ÿ   From point D to point E (3->4): The trajectory is a straight line. So MOVL mode is required. The arm orientations of point E and point D must be the same.

Ÿ   From point E to point F (4->5): The trajectory looks like a door. So JUMP mode is required. You need to set Height and Limit.

Ÿ   From point F to point H (5->6): The trajectory is an arc. So ARC mode is required. Besides point F and point G, you need to save point G. For details, please see 6.1.3 Saving Point in ARC Mode. The arm orientation of point F must be the same as that of point G and point H.

Ÿ   From point H to point I (6->7): The trajectory looks like a door. So JUMP mode is required. You need to set Height and Limit.

Ÿ   From point I to point J (7->8): The trajectory is a circle. So CIRCLE mode is required. Besides point I and point J, you need to save point K. The method to save point in CIRCLE mode is the same as that of ARC mode. The arm orientation of point I must be the same as that of point J and point K.














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