Skip to main content

Program Linear Movement

  1. Change the color of the dry-erase marker on the arm mounted on the V5 Workcell. This will be used to see the difference between linear and joint movements.
    Pen Callout
  2. Detach the [Joint move speed] and three [Joint move] blocks from the [Set tool] block, but do not delete them. Place them somewhere else in the Workspace. Blocks that are not attached to hat blocks, like the {When started} block, are not executed when the project is run.
    Detach joint move blocks
  3. To ensure the arm mounted on the V5 Workcell does not move too quickly, select and drag the [Set linear speed] block from the ‘Arm’ category in the Tool Box and attach it to the [Set tool] block.
    Add linear speed block
  4. Set the speed to ‘slow.’
    Set linear speed to slow
  5. Select and drag the [Linear move] block from the ‘Arm’ category in the Tool Box and attach it to the [Set linear speed] block.
    Add first linear move block
  6. Input the (x, y, z) coordinates of the location above Point 1 into the [Linear move] block.
    Add location above point one to linear
  7. Select and drag another [Linear move] block from the ‘Arm’ category in the Tool Box and attach it to the first [Linear move] block.
    Add second linear move block
  8. Input the (x, y, z) coordinates of Point 1 into the second [Linear move] block.
    Add point one to linear
  9. Select and drag another [Linear move] block from the ‘Arm’ category in the Tool Box and attach it to the second [Linear move] block.
    Add third linear move block
  10. Input the (x, y, z) coordinates of the location above Point 1 into the third [Linear move] block. This ensures the arm mounted on the V5 Workcell will raise up before moving to the location above Point 3.
    Insert location above point 1 into third linear block
    Note: the first and third [Linear move] blocks should be exactly the same. 
  11. Repeat steps 32-37 two more times to add six additional [Linear move] blocks and input the (x, y, z) coordinates of the Points 2 and 3, as well as the locations above Points 2 and 3. Ensure the coordinates for Point 3 and the location above Point 3 are added first, to ensure the arm mounted on the V5 Workcell will move in the correct order of points: 
    a. Above Point 1
    b. Point 1
    c. Above Point 1
    d. Above Point 3
    e. Point 3
    f. Above Point 3
    g. Above Point 2
    h. Point 2
    i. Above Point 2
    All linear points
  12. Download and run the project.
    Download and Run
    Note: if the dry-erase marker is not drawing well, adjust the z-axis values to provide more force. 
  13. Observe that the arm mounted on the V5 Workcell drew three dots at Points 1, 2, and 3 using the dry-erase marker.
    Linear Points
  14. Stop the project.
    Stop the project
<  Back Return to Labs Next  >