Trajectory Teaching
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Trajectory Teaching: Click the button to switch to the trajectory teaching interface. The left side of this page is the trajectory teaching function area. For trajectories, you can create or delete trajectories. For steps in a trajectory, you can create, edit, or delete steps. Click the teaching button to demonstrate the current trajectory according to the steps in the trajectory. Since the step parameters vary with different step types, opening the parameter hints will display the meanings of the parameters of the currently selected step.
Trajectory Settings
①Create Trajectory: Add a new trajectory.
②Delete Trajectory: Delete the current trajectory.
③When there are many trajectories, you can click the button to jump to the subsequent trajectories.
Step Settings
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Create Step: You can create the following types of steps: joint movement step, linear movement step, circular motion step, joint jump step, linear jump step, wait-for-input step, set-output step, delay step, and logic step.
Create Motion Step
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Create Motion Step: This parameter editing interface will pop up when creating a joint movement step, linear movement step, joint jump step, or linear jump step. This step will move to the specified location according to the parameter settings based on the motion type. Click “Clear” to reset the parameters.
New Circular Motion: When creating a new circular motion, this parameter editing interface will pop up, adding an auxiliary point number parameter input field. This step will cause the circular motion to go to the specified location based on the parameter settings. Click Clear to reset the parameters.
Create I/O Signal Step
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Create Wait-for-input Step: This parameter editing interface will pop up when creating a wait-for-input step. Within the timeout period, this step checks whether the corresponding input source equals the input source value. The step ends when equality is detected or timeout occurs. Click “Clear” to reset parameters.
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Create Set-output Step: This parameter editing interface will pop up when creating a set-output step. This step sets the corresponding output source to the output source value. Click “Clear” to reset parameters.
Create Delay Step
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Create Delay Step: This pop-up window will appear when creating a delay step. During execution of the step, the robot will wait for the delay duration.
Edit Step
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Edit Step: After selecting the step to be edited, click “Edit Step” to open the parameter modification interface (the same as the creation interface). Modify the corresponding parameters and save them.
Delete Step
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Delete Step: Select a step and click “Delete Step” to remove it. The step numbers will be updated accordingly.
Trajectory Teaching
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Trajectory Teaching: Click the Teaching button to demonstrate the current trajectory according to the steps in the trajectory.
Parameter Tooltip
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Parameter Tooltip: When enabled, the parameter tooltip will display the meaning of the parameters for the current step. The same parameter may have different meanings depending on the step type. The parameter tooltip helps users understand the information in real time.