Following a Trajectory with a Single Instruction

A Move Along Activity allows you to follow a trajectory with a single instruction within an existing robot task.

Create Task from Trajectory creates a new robot task composed of individual robot motions that each point a tag in the selected tag group. A robot task with one motion per tag to simulate a trajectory can be inefficient when simulating a large number of targets simultaneously. The Move Along Activity solves this problem by following a trajectory with a single instruction in an existing task.

  1. From the Teach context toolbar, select Insert a Move Along Activity.
    You are prompted to select a tag group.
  2. Select the tag group from which the new Move Along Activity will be created.

    A Move Along Activity is created under the robot task.

    A Move Along Activity is not simulated in Teach when selected. Instead, Expand the multi motion sequence starts the Multi Motion Editor.

    You can also double-click the Move Along Activity to start the Multi Motion Editor.

    The Multi Motion Editor is similar to the Teach interface, with the following exceptions:

    • A Move Along Activity can have many more targets than can be displayed in the viewing area of the Multi Motion Editor. A Start Index can be specified where you want to view the MoveAlongMotions.
    • Display Size allows you to specify the number of MoveAlongMotions shown in the Multi Motion Editor. If the value for Display Size exceeds the number of rows visible in the Multi Motion Editor, a vertical scrollbar becomes available.
    • A slider control allows you to quickly jump across the displayed MoveAlongMotions. Numbers appear along the sides of the slider to assist in quickly viewing MoveAlongMotions of interest.

    The Multi Motion Editor can be used to:

    • Simulate a Move Along Activity by selecting it.
    • Simulate using all Teach simulation toolbar functions.
    • Edit motion parameters for a MoveAlongMotion (controller profiles, turn numbers, etc.) through its context menu.
    • Add robot motions for via points through the Teach context toolbar.