手臂

Introduction

The 6-Axis Robotic Arm is a robotic manipulator used in the CTE Workcell that can move in three-dimensional space and rotate its end effector to different orientations. Blocks in the Arm category move the 6-Axis Arm to positions, adjust its orientation, and control its speed.

Below is a list of available blocks:

Actions – Move the 6-Axis Arm to positions or orientations and configure its movement speed and attached tools

• move Arm to position – Moves the 6-Axis Arm to a specified x, y, and z coordinate.

• increment Arm position – Moves the 6-Axis Arm by an incremental distance along the x, y, and z axes.

• move Arm to orientation – Rotates the 6-Axis Arm’s end effector to a specific orientation.

• increment Arm orientation – Rotates the 6-Axis Arm’s end effector by a specified number of degrees.

• set Arm speed – Sets the movement speed of the 6-Axis Arm.

• set Arm end effector – Selects which tool is attached to the 6-Axis Arm.

• set Arm magnet mode – Engages or releases the magnet pickup tool.

• set Arm pen offset – Sets the vertical offset for the pen tool.

• set Arm to control stopped – Stops the 6-Axis Arm and prevents further movement.

Sensing – Return 6-Axis Arm motion status, position, and orientation.

• Arm move to position? – Returns a Boolean indicating whether the 6-Axis Arm has finished moving.

• Arm increment position? – Returns the 6-Axis Arm’s current position on a selected axis (X, Y, or Z) in mm or inches.

• Arm move end effector? – Returns the 6-Axis Arm’s current orientation (pitch, roll, or yaw) in degrees.

• Arm increment orientation?

• Arm is done moving?

• Arm position

• Arm orientation

Actions

move Arm to position

The move Arm to position block moves the 6-Axis Arm to a specified x, y, and z coordinate.

移动 [手臂 v] 到位置x:[120] y:[0] z:[100] [毫米 v] ▶

Parameter	Description
x	The x-coordinate of the target position.
y	The y-coordinate of the target position.
z	The z-coordinate of the target position.
unit	Selects the unit for coordinates: mm — millimeters inches
expanding arrow	By default, this is a waiting block, so the 6-Axis Arm will finish moving before running the next block. To make the 6-Axis Arm start moving and immediately run the next block right away, expand the block to say and don’t wait.

Example

当开始
[Move the 6-Axis Arm to standard position at start of project.]
移动 [手臂 v] 到位置x:(120) y:(120) z:(75) [毫米 v] ▶

increment Arm position

The increment Arm position block moves the 6-Axis Arm by an incremental distance along the x, y, and z axes.

[arm] 位置递增x:[0] y:[0] z:[0] [毫米 v] ▶

Parameter	Description
x	Distance to move along the X axis.
y	Distance to move along the Y axis.
z	Distance to move along the Z axis.
unit	Selects the unit for the movement distance: mm — millimeters inches
expanding arrow	By default, this is a waiting block, so the 6-Axis Arm will finish moving before running the next block. To make the 6-Axis Arm start moving and immediately run the next block right away, expand the block to say and don’t wait.

Example

当开始
[Move the 6-Axis Arm 100 millimeters along the x-axis.]
[手臂 v] 位置递增x:[100] y:[0] z:[0] [毫米 v] ▶

move Arm to orientation

The move Arm to orientation block rotates the 6-Axis Arm’s end effector about a selected axis to a specified orientation.

移动 [手臂 v] [俯仰 v] 偏转至 [0] 度 ▶

Parameter	Description
orientation	Selects which axis to rotate the end effector about: pitch roll yaw
degrees	The target orientation angle in degrees.
expanding arrow	By default, this is a waiting block, so the 6-Axis Arm will finish moving before running the next block. To make the 6-Axis Arm start moving and immediately run the next block right away, expand the block to say and don’t wait.

Example

当开始
[Rotate the end effector to 270 degrees of yaw.]
移动 [手臂 v] [偏转 v] 偏转至 [270] 度 ▶

increment Arm orientation

The increment Arm orientation block rotates the 6-Axis Arm’s end effector by a specified number of degrees about a selected axis.

[手臂 v] [俯仰 v] 偏转递增 [0] 度 ▶

Parameter	Description
orientation	Selects which axis to rotate the end effector about: pitch roll yaw
degrees	The number of degrees to rotate the end effector.
expanding arrow	By default, this is a waiting block, so the 6-Axis Arm will finish moving before running the next block. To make the 6-Axis Arm start moving and immediately run the next block right away, expand the block to say and don’t wait.

Example

当开始
[Rotate the end effector 40 degrees in pitch.]
[arm] [俯仰 v] 偏转递增 [40] 度 ▶

set Arm speed

The set Arm speed block sets the movement speed of the 6-Axis Arm.

By default, the 6-Axis Arm’s speed is set to 50% at the start of a project.

设定 [手臂 v] 移速为 [50]%

Parameter	Description
percent	Sets the 6-Axis Arm’s speed as a percentage from 1 to 100.

Example

当开始
[Set the 6-Axis Arm's speed to 30%.]
设定 [手臂 v] 移速为 [30]%
移动 [手臂 v] 到位置x:[120] y:[120] z:[70] [毫米 v] ▶

set Arm end effector

The set Arm end effector block selects which tool is attached to the 6-Axis Arm.

When the end effector is changed, the 6-Axis Arm automatically adjusts its z-offset to match the selected tool.

By default, the end effector is set to the Magnet Pickup Tool at the start of a project.

设定 [手臂 v] 末端执行器为 [magnet v]

Parameter	Description
end effector	Selects which tool is attached to the 6-Axis Arm: magnet — Magnet Pickup Tool pen — Pen Holder Tool

Example

当开始
[Set the 6-Axis Arm to use the Pen Holder Tool.]
设定 [手臂 v] 末端执行器为 [pen v]

set Arm magnet mode

The set Arm magnet mode block sets the mode of the 6-Axis Arm’s Magnet Pickup Tool.

The magnet mode remains active until another set arm magnet mode block changes it.

At the start of a project, the magnet mode is reset to released.

设定 [手臂 v] 磁铁为 [engaged v]

Parameter	Description
mode	Sets the magnet state: engaged — the Magnet Pickup Tool will pick up objects released — the Magnet Pickup Tool will drop any held object and not pick up new ones

Example

当开始
[Pick up objects, then drop them after 2 seconds.]
设定 [手臂 v] 磁铁为 [engaged v]
等待 [2] 秒
设定 [手臂 v] 磁铁为 [released v]

set Arm pen offset

The set Arm pen offset block sets the current z-offset of the 6-Axis Arm when using the Pen Holder Tool.

Before using this block, the arm’s end effector must be set to the Pen Holder Tool with the set arm end effector block. If the Pen Holder Tool is not selected, this block has no effect.

The pen offset is the distance between the top of the Pen Holder Tool and the tip of the Dry-Erase Marker. At the start of a project, the pen offset is set to 0. By default, this corresponds to approximately 23 mm between the tip of the Dry-Erase Marker included with the CTE Workcell Kit and the Pen Holder Tool.

A pen offset of 0 places the arm’s z-axis origin at the point where the Pen Holder Tool connects to the 6-Axis Arm.

设定 [手臂 v] 笔的偏移量为 [0] [毫米 v]

Parameter	Description
offset	Sets the pen offset value.
unit	Selects the unit for the pen offset: mm — millimeters inches

Example

当开始
[Set the pen offset to 1 inch.]
设定 [手臂 v] 笔的偏移量为 [1] [英寸 v]
移动 [手臂 v] 到位置x:[120] y:[120] z:[0] [毫米 v] ▶

set Arm to control stopped

The set Arm to control stopped block enables the 6-Axis Arm’s control stop.

When control stop is enabled, the 6-Axis Arm immediately stops any movement and will not execute any further Arm blocks. Once this block runs, the 6-Axis Arm cannot be re-enabled until the project is restarted.

设定 [手臂 v] 停用

Parameters	Description
	This block has no parameters.

Example

当开始
[Control stop after a movement.]
移动 [手臂 v] 到位置x:[120] y:[120] z:[70] [毫米 v] ▶
设定 [手臂 v] 停用

Sensing

Arm move to position?

The Arm move to position? block returns a Boolean indicating whether the 6-Axis Arm can move to the specified position.

• True — The 6-Axis Arm can move to the specified x, y, and z position.

• False — The specified position is outside the reachable workspace of the 6-Axis Arm.

<[arm v] move to position x:[0] y:[0] z:[0] [mm v] ?>

Parameter	Description
x	The x-coordinate of the target position.
y	The y-coordinate of the target position.
z	The z-coordinate of the target position.
unit	Selects the unit for the coordinates: mm — millimeters inches

Example

当开始
[Check if the 6-Axis Arm can move to a position.]
如果 <非 <[arm v] move to position x:[0] y:[0] z:[0] [mm v] ?>> 那么
在控制台上打印 [The 6-Axis Arm can't move to this position.]◀ 并设定光标为下一行

Arm increment position?

The Arm increment position? block returns a Boolean indicating whether the 6-Axis Arm can move the specified incremental distance.

• True — The 6-Axis Arm can move the requested distance along the x, y, and z axes.

• False — Moving the requested distance would place the 6-Axis Arm outside its reachable workspace.

<[手臂 v] 位置增加x:[0] y:[0] z:[0] [毫米 v]?>

Parameter	Description
x	Distance to move along the x-axis.
y	Distance to move along the y-axis.
z	Distance to move along the z-axis.
unit	Selects the unit for the movement distance: mm — millimeters inches

Example

当开始
[Check if the 6-Axis Arm can increment from its position.]
如果 <非 <[arm v] move to position x:[0] y:[500] z:[0] [mm v] ?>> 那么
打印 [The 6-Axis Arm can't incremental move for this distance.] ◀ 并设定光标为下一行

Arm move end effector?

The Arm move end effector? block returns a Boolean indicating whether the 6-Axis Arm can rotate its end effector to the specified orientation.

• True — The 6-Axis Arm can rotate the end effector to the specified orientation.

• False — The requested orientation is outside the allowed range for the 6-Axis Arm.

<[手臂 v] 末端执行器移动到 [俯仰 v] [0] 度？>

Parameter	Description
orientation	Selects which axis to rotate the end effector about: pitch roll yaw
degrees	The target orientation angle in degrees.

当开始
[Check if the 6-Axis Arm can roll its end effector to a position.]
如果 <[手臂 v] 末端执行器移动到 [横滚 v] [40] 度？> 那么
在控制台上打印 [The End Effector can roll to that position.]◀ 并设定光标为下一行

Arm increment orientation?

The Arm increment orientation? block returns a Boolean indicating whether the 6-Axis Arm can rotate its end effector by the specified number of degrees.

• True — The 6-Axis Arm can rotate the end effector by the specified amount.

• False — Rotating the end effector by the specified amount would move it outside the allowed range.

<[手臂 v] [俯仰 v]偏转递增 [0] 度？>

Parameter	Description
orientation	Selects which axis to rotate the end effector about: pitch roll yaw
degrees	The number of degrees to rotate the end effector.

当开始
[Check if the 6-Axis Arm can incrementally yaw its end effector.]
如果 <[手臂 v] [偏转 v]偏转递增 [20] 度？> 那么
在控制台上打印 [The End Effector can incrementally yaw for that distance.]◀ 并设定光标为下一行

Arm is done moving?

The Arm is done moving?* block returns a Boolean indicating whether the 6-Axis Arm is currently moving.

• True — The 6-Axis Arm is not moving.

• False — The 6-Axis Arm is moving.

<[手臂 v] 已结束？>

Parameters	Description
	This block has no parameters.

当开始
[Display the current y-position while the 6-Axis Arm moves.]
移动 [手臂 v] 到位置x:(-100) y:(200) z:(100) [毫米 v] ◀ 并且不等待
重复直到 <[手臂 v] 已结束？>
在控制台上打印 ([手臂 v] [y v] 位置 [毫米 v])◀ 并设定光标为下一行
等待 [0.25] 秒

Arm position

The Arm position block returns the current position of the 6-Axis Arm along a selected axis.

([手臂 v] [X v] 位置 [毫米 v])

Parameter	Description
axis	Selects which axis to return the position for: x y z
unit	Selects the unit for the position value: mm — millimeters inches

当开始
[Display the current y-position while the 6-Axis Arm moves.]
移动 [手臂 v] 到位置x:(-100) y:(200) z:(100) [毫米 v] ◀ 并且不等待
重复直到 <[手臂 v] 已结束？>
在控制台上打印 ([手臂 v] [y v] 位置 [毫米 v])◀ 并设定光标为下一行
等待 [0.25] 秒

Arm orientation

The Arm orientation block returns the current orientation of the 6-Axis Arm’s end effector about a selected axis in degrees.

([手臂 v] [俯仰 v] 偏转角度值)

Parameter	Description
orientation	Selects which orientation axis to report: pitch roll yaw