PMT-Linear Motion

① Click the Basic Motion \ Linear Motion tab

② Enter the XBot ID

③ Select Absolute or Relative Motion

④ Select whether the XBot:

• Moves in a straight line directly to the target position
• Moves along X first, then moves in the Y direction
• Moves along Y first, then moves in the X direction

⑤ Enter the motion parameters including the target position, speed, and acceleration

⑥ If X-then-Y or Y-then-X is selected, a radius can be specified, which will then produce a blended motion (see below)

⑦ Click "Send" when ready

 

Note:

• The XY position of an XBot is defined by the XBot’s center point

 

Blended Motion:

When a radius is specified and the path type is either X-then-Y or Y-then-X, an arc motion will be automatically inserted between the two linear motion commands.

If a radius smaller than the minimum radius needed to maintain the specified maximum speed is inputted, the PMC will automatically lower the speed to a value within system limits.