How To Use Waypoints on the Omron TM Series Robot

I'm going to use the robot pad, or the teach pendant, to start the program. And the display board will come up.  In another video I'll show you how you can display these variables, but I created a variable and I'm going to type in a value here of 100 and now when the program runs it will use 100 for the height.

This is what the robot looks like while it's running the program. I'm showing you this part so you can see what we're looking at later.  It’s just going to grab that pen, take it over to the digitizer, and then make the moves through the waypoint. It's a little hard to see what the changes are sometimes just by watching the robot, so I had it draw on the digitizer, and then we'll look at what it drew later on.
 
Just a note about these waypoints is that unless you have a change in Z height, the height setting in the waypoint doesn't really make much difference.

So let's see what they look like. This first graphic is from the move we just saw. You can see that I've got the height set to 0 on both of them and the blending is 0 on one, 100 on the other.  So there's the one with the blending at 100%. There's the one with the blending at 0%. I know these go by kind of fast, so feel free to rewind and watch them again.  Here's another move. This one has the height set to 50%. You can see a little change, but it's hard to catch, so we'll watch the digitizer next. But you can see it's going...basically making that waypoint move through the top. You'll see from this graphic coming up that it will move up about 50% and then over to the waypoint and then the first one is with no blending. The second one’s with blending and the pen came off the pad so I'll finish it off there. On this one we're setting the height to 100% so it goes almost straight up to the Z height, and then it will start its move down to the next point. See there is going to be one with blending and one without and we'll see that in this graphic right here coming up where the Z moves up curves over to the waypoints and then down to the next point and then it'll do the same move, only backwards where there's no blending. It's just basically straight up straight over and then in an angle down.

This last graphic has to do with the point to point or line setting in the Waypoint, and this is where you set it up. Select point to point or line. And here's the graphic of what happens when you change that setting. This first one’s at line. So it's a linear move. We'll see what happens when we set it to P to P, point to point, and it will change the corners there. So you see that corner drops in a little bit on PTP. It's pretty straight out on line, it pulls in a little on both of those corners you see them change.  But on the move where there's no blending, it doesn't make much change at all to change that point to point or line setting.

That's it for waypoints. I hope you found this useful. I know the graphics and the videos went by quickly, but you can easily rewind and watch them over and over again until you get tired of my voice.  But for now, the robot and I say goodbye.

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