On the lower side of the trajectory wizard you will see the waypoint parameters movement type, speed, acceleration and blending. Then you will need to also provide values to the new waypoint again by clicking Set Pose with Wizard. !(images/intro_trajectory/tw_filled.png)Ī new waypoint can be added to the trajectory on the left side by clicking. Now move the robot by clicking on the colored arrows until you reach your desired robot pose.Ĭlick Apply when you want to save the current pose.Īfter clicking Apply you will see the values in the boxes Position and Orientation !(images/intro_trajectory/tw_empty_text.png) For this tutorial it will be assumed that we use the Wizard for entering the values. You can also introduce the Euler frame manually by clicking on the top right symbol. For parameterizing the selected waypoint you need to click Set Pose with Wizard.In this case the waypoint New Param is selected and ready to be parametrized. The blue dot on the side indicates which waypoint is selected. The trajectory wizard will display an empty pose which can be filled. The first view you will see when parameterizing a trajectory is similar to the following picture.
Moreover the trajectory wizard can be used anywhere where trajectories are needed.
In addition the speed, acceleration and the blending of the robot can be also set. It handles position and orientation of the tool center point. This wizard is mainly used to parametrize the Move Cartesian function block. These sequences are composed of positions also known as waypoints. The trajectory wizard is a tool which helps the user to create robot movement sequences.
#Fanuc operation panel wizard drivers
Robot Drivers Development (Robot Movement Interface)