Motion Command Path Reproduction Command

0:03

This video demonstrates how to use the

0:05

robot trajectory replay feature. First,

0:08

let's move on to programming and create

0:10

a new program. To use trajectory replay,

0:13

we first need to record the starting

0:15

point of the trajectory. We first

0:17

designate test one as the starting point

0:19

for our trajectory.

0:28

Next, click the TPD button below the

0:30

model to open the trajectory replay

0:32

settings menu. We can enter the name of

0:34

the track we want to create. Here we

0:36

enter test one. In the period option,

0:39

you can determine the interval at which

0:41

we record the robot's position. For

0:43

example, selecting means recording the

0:45

position every 2 milliseconds. The

0:48

essence of trajectory reconstruction

0:49

lies in continuously. Recording the

0:52

robot's position change that very short

0:54

time intervals to connect them into a

0:56

coherent trajectory. After setting the

0:58

name and interval, we can start

1:00

recording the track.

1:05

Before starting the recording, click the

1:07

icon to switch to drive mode. At this

1:10

point, the robot enters its standard

1:12

drag mode. Please ensure the robot's

1:14

load settings are correct at this time,

1:16

otherwise the robot may move up and down

1:19

on its own. Then we click start

1:21

recording and drag the robot. The robot

1:23

will record point data at preset

1:25

intervals during the process. After

1:27

dragging is complete. At this point, the

1:30

trajectory recording is finished.

1:34

We can edit the trajectory on the right

1:36

side of the TPD menu. You can find the

1:38

track we just recorded. Track one in the

1:41

drop-own menu and the track name. Click

1:43

to retrieve it. The specific number of

1:45

positions will appear in the start

1:47

directory and stop directory. A total of

1:50

4,189

1:52

points can be seen. You can see a red

1:54

trial appearing in the 3D model. This is

1:56

the trial we just dragged.

2:00

We can drag the progress bar to watch

2:02

and trim points from the beginning or

2:04

end. If there are tracks you no longer

2:06

need or tracks with incorrect records,

2:08

you can click delete below.

2:11

Next, we click on the trajectory in the

2:14

motion commands. Ensure the robot moves

2:16

to the starting point first, then load

2:18

the trajectory before beginning the

2:20

replay.

2:27

We sequentially select the trajectory we

2:30

just recorded in both trajectory loading

2:32

and trajectory replay.

2:47

Switch to automatic mode and run the

2:49

program. You can see that the robot

2:51

first returned to the starting point,

2:53

then repeated the movement along the

2:55

path we just dragged once. That

2:57

concludes our explanation of trajectory

2:59

replay. Thank you for watching.