Basic settings & define target point
A waypoint represents the definition of a movement of the robot to a specific position or to a specific target point. Among other things, the speed, type of movement, tolerances (overshoot) and target point of the robot are defined. The target point defines the desired pose (position) of the robot.
The destination point is defined in the same way as for free navigation.
Switching outputs
It is possible to switch any number of outputs while travelling to a waypoint. There are two options for the time of switching:
- Path duration
Specifies the percentage of time elapsed before the output is switched. The time refers to the complete movement including acceleration and deceleration of the robot. - Time delay
Determines after how many milliseconds from the start of the approach of the waypoint the output is switched. If the value is higher than the duration of the complete movement itself, the system waits at the end of the movement until the time value is reached and only then is the output switched.
Stop-Conditions
Stop conditions can be used to pause or cancel movements to a waypoint as soon as a certain condition is met. Any number of stop conditions can be defined for each waypoint command.
There are 3 types of stop conditions:
- Pause
The programme pauses and a corresponding pop-up appears. The pop-up can only be confirmed if the stop condition is no longer met. The programme then continues. - Pause with automatic resume
If the checkbox is ticked, the programme continues without manual confirmation. - Cancel
The current movement is cancelled and the programme continues with the next movement.
Set register
In this part of the settings, registers can be set during the approach of a waypoint. This means that values can be set in a register at a specific time during the movement of the robot. Any number of registers can be set for each waypoint command.
There are two options for setting a register:
- Path duration
Determines the percentage of time elapsed before the register value is set. The time refers to the complete movement including acceleration and deceleration of the robot. - Time delay
Determines after how many milliseconds from the start of the movement to the waypoint the register value is set. If the value is higher than the duration of the complete movement itself, the system waits at the end of the movement until the time value is reached and the register value is set.
