MC-Basic:JUMP JUMP3 JUMP3CP

The JUMPX motion commands are JUMP, JUMP3, and JUMP3CP. A JUMPX motion command is comprised of three motion segments, blended using SP blending.

Starting from a StartPoint, the three points that define the motion are:

• AscendingPoint
• DescendingPoint
• TargetPoint

See the picture below with these three points marked on it.

The three JUMPX command types differ in the interpolation types of the three segments:

• JUMP – MOVE, MOVE, MOVE
• JUMP3 – MOVES, MOVE, MOVES
• JUMP3CP – MOVES, MOVES, MOVES

The parts of segments 1 and 3 that are not blended with segment 2 are controlled by the properties Arch[x][1] and Arch[x][2], where x = 1..7. The pair used in the motion is selected by ArchNo = x.

The default values are:

• Arch[x][1] = 20 + 10*x
• Arch[x][2] = 20 + 10*x

for x = 1..7.

JUMPX command point definition

General JUMPX Rules

• If ArchNo is not specified in the JUMPX command, there is no blending in the JUMPX motion.
• If (Arch[x][y] - Ly) > 0 for x = ArchNo, y = 1,3, there is no blending for the relevant segment y.
• The blending method used for JUMPX segments is always SP, even if the modal blending method is CP.
• If BlendingPercentage <> -1, it is used. Otherwise, BlendingFactor is used to calculate:

BlendingPercentage = 100 - BlendingFactor

• The actual BlendingPercentage used is:

min(100*(1-Arch[x][y]/Ly), BlendingPercentage)

• If ProfilerType is trapez acceleration, safe SP is used, so the Arch values cannot be guaranteed.
• The robot's configuration flags at the AscendingPoint are the same as those of the StartPoint.
• The robot's configuration flags at the DescendingPoint are the same as those of the TargetPoint.

Specific JUMPX Rules

JUMP

• In JUMP, the property LimZ is used instead of explicit AscendingPoint and DescendingPoint properties.
• The AscendingPoint is exactly above StartPoint, and the DescendingPoint is exactly above TargetPoint, both at height LimZ.
• If LimZ is not specified in the JUMP command, the modal LimZ value is used.
• The default value is LimZ = 0.
• The JUMP command can be used only with robots that have a Z Cartesian coordinate.
• JUMP is best suited for robots that have a linear joint in the Z direction, such as SCARA and TARM. Otherwise, the first and third arch segments are not straight-line segments.

JUMP motion, side view. The horizontal motion is not necessarily a linear segment

JUMP3 and JUMP3CP

• In JUMP3 and JUMP3CP, segments 1 and 3 are straight-line segments.
• In JUMP3, segment 2 is a joint interpolation motion (MOVE), and its motion is specified by MOVE properties such as VelocityScale.
• In JUMP3CP, segment 2 is a Cartesian straight-line motion (MOVES), and its motion is specified by MOVES properties such as VelocityTrans.
• In contrast to JUMP, in JUMP3 and JUMP3CP the AscendingPoint and DescendingPoint can be in any direction, such as in the XY plane.

JUMP3CP motion

Syntax

JUMP <target point> {ArchNo=<x>} {LimZ=<value>} {BlendingPercentage=<value>} {other MOVE properties}

JUMP3 AscendingPoint=<p1> DescendingPoint=<p2> TargetPoint=<p3> {ArchNo=<x>} {BlendingPercentage=<value>} {other MOVE/MOVES properties}

JUMP3CP AscendingPoint=<p1> DescendingPoint=<p2> TargetPoint=<p3> {ArchNo=<x>} {BlendingPercentage=<value>} {other MOVES properties}

Availability

0.4.21.2r14

Type

Motion command

Scope

Task, Terminal

Limitations

• JUMP can be used only with robots that have a Z Cartesian coordinate.
• The blending method is always SP, even if the modal blending method is CP.
• If ProfilerType is trapez acceleration, safe SP is used, so Arch values cannot be guaranteed.

Examples

JUMP locTargetPoint

JUMP jntTargetPoint ArchNo=2 LimZ=0 BlendingPercentage=50 Vscale=80 Ascale=30

JUMP3 AscendingPoint=P1 DescendingPoint=P2 TargetPoint=P3 ArchNo=2 BlendingPercentage=50 Vtran=1000 Ascale=20

JUMP3CP AscendingPoint=P1 DescendingPoint=P2 TargetPoint=P3 ArchNo=2 BlendingPercentage=50 Vtran=100 Ascale=20

See Also

• MOVE
• MOVES
• Robot Kinematics Models