{"id":343678,"date":"2023-02-02T17:46:57","date_gmt":"2023-02-02T08:46:57","guid":{"rendered":"https:\/\/techshare.co.jp\/faq\/?p=343678"},"modified":"2025-03-03T09:29:51","modified_gmt":"2025-03-03T00:29:51","slug":"blockly-movement-commands","status":"publish","type":"post","link":"https:\/\/techshare.co.jp\/faq\/dobot\/mg400\/blockly-movement-commands.html","title":{"rendered":"[DOBOT, DobotStudioPro] Blockly\u306b\u3066\u983b\u7e41\u306b\u4f7f\u7528\u3055\u308c\u308b\u30b3\u30de\u30f3\u30c9\u306e\u8aac\u660e\uff08\u79fb\u52d5\u30b3\u30de\u30f3\u30c9\u7de8\uff09"},"content":{"rendered":"<h3><strong>1. \u306f\u3058\u3081\u306b<\/strong><\/h3>\n<hr \/>\n<p>\u672c\u7a3f\u3067\u306f\u3001\u5236\u5fa1\u30bd\u30d5\u30c8\u30a6\u30a7\u30a2DobotStudioPro\u3067\u30d7\u30ed\u30b0\u30e9\u30e0\u4f5c\u6210\u6642\u306b\u5229\u7528\u3067\u304d\u308bBlockly\u306b\u304a\u3044\u3066\u6700\u3082\u983b\u7e41\u306b\u4f7f\u7528\u3055\u308c\u308b\u79fb\u52d5\u30b3\u30de\u30f3\u30c9\u306e\u7d39\u4ecb\u3092\u3057\u307e\u3059\u3002<\/p>\n<p><!--more--><\/p>\n<p>&nbsp;<\/p>\n<h3><span id=\"i-2\"><span id=\"env\"><strong>2. \u74b0\u5883<\/strong><\/span><\/span><\/h3>\n<hr \/>\n<p>\u672c\u7a3f\u6295\u7a3f\u6642\u306b\u4f7f\u7528\u3057\u3066\u3044\u308b\u74b0\u5883\u306f\u4ee5\u4e0b\u306b\u306a\u308a\u307e\u3059\u3002<\/p>\n<p>OS: Windows 10(64bit)<\/p>\n<p>MG400: DobotStudioPro v2.6.0<\/p>\n<h3><span id=\"i-2\"><span id=\"env\"><strong>3. \u79fb\u52d5\u30b3\u30de\u30f3\u30c9\u89e3\u8aac<\/strong><\/span><\/span><\/h3>\n<hr \/>\n<h4>3-1. \u5168\u30b7\u30ea\u30fc\u30ba\u5171\u901a\u306e\u79fb\u52d5\u30b3\u30de\u30f3\u30c9<\/h4>\n<h6><strong>Move to target point\uff1a\u4fdd\u5b58\u3057\u305f\u5ea7\u6a19\u3078\u306e\u79fb\u52d5<\/strong><\/h6>\n<p><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/01\/target-point1-300x64.jpg\" alt=\"\" width=\"300\" height=\"64\" class=\"alignnone wp-image-343687 size-medium\" srcset=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/01\/target-point1-300x64.jpg 300w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/01\/target-point1-426x91.jpg 426w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/01\/target-point1.jpg 618w\" sizes=\"auto, (max-width: 300px) 100vw, 300px\" \/><\/p>\n<p>\u89e3\u8aac\uff1a\u30dd\u30a4\u30f3\u30c8\u30ea\u30b9\u30c8\u306b\u767b\u9332\u3057\u305f\u70b9\u3078\u30a2\u30fc\u30e0\u3092\u79fb\u52d5\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002\uff08\u30c7\u30d5\u30a9\u30eb\u30c8\u306fInitialPose\uff08[x,y,z,r] , [350,0,0,0]\uff09\u306b\u8a2d\u5b9a\u3057\u3066\u3042\u308a\u307e\u3059\u3002\uff09<\/p>\n<p>\u30fb\u79fb\u52d5\u306e\u8ecc\u8de1\u306e\u7a2e\u985e\u306b\u306fMovJ\u3068MovL\u304c\u5b58\u5728\u3057\u307e\u3059\u3002<\/p>\n<p>MovJ\uff1a\u975e\u7dda\u5f62\u904b\u52d5\u306b\u3088\u308b\u30a2\u30fc\u30e0\u306e\u79fb\u52d5\u3000MovL\uff1a\u76f4\u7dda\u904b\u52d5\u306b\u3088\u308b\u30a2\u30fc\u30e0\u306e\u79fb\u52d5<\/p>\n<p>\u203b\uff11\u30dd\u30a4\u30f3\u30c8\u30ea\u30b9\u30c8\u3078\u306e\u4fdd\u5b58\u65b9\u6cd5\u306f<a href=\"https:\/\/techshare.co.jp\/faq\/dobot\/mg400\/point-list.html\" target=\"_blank\" rel=\"noopener\">[DOBOT]\u30dd\u30a4\u30f3\u30c8\u30ea\u30b9\u30c8\u4f7f\u7528\u65b9\u6cd5<\/a>\u3092\u53c2\u7167\u304f\u3060\u3055\u3044\u3002<\/p>\n<p>&nbsp;<\/p>\n<p>\u203b\uff12 \u79fb\u52d5\u547d\u4ee4\u306b\u304a\u3051\u308bAdvanced Setting\u306b\u3064\u3044\u3066<\/p>\n<p>Advanced Setting\u306f\u3001\u79fb\u52d5\u547d\u4ee4\u5358\u4f53\u306b\u8a73\u7d30\u306a\u79fb\u52d5\u30d1\u30e9\u30e1\u30fc\u30bf\u3092\u8a2d\u5b9a\u3059\u308b\u6a5f\u80fd\u3067\u3059\u3002<\/p>\n<p>\u4ee5\u4e0b\u306e\u3088\u3046\u306b\u3001\u79fb\u52d5\u547d\u4ee4\u30d6\u30ed\u30c3\u30af\u81ea\u4f53\u3092\u62bc\u4e0b\u3059\u308b\u3053\u3068\u3067\u8a2d\u5b9a\u753b\u9762\u3092\u958b\u304f\u3053\u3068\u304c\u53ef\u80fd\u3067\u3059\u3002<\/p>\n<p><span style=\"color: #ff0000;\"><strong>\u3010\u6ce8\u610f\u3011DobotStudioPro2.8.0~\u3067\u306f\u8ddd\u96e2\u6307\u5b9a\u306b\u3064\u3044\u3066\u8ca0\u306e\u5024\u306e\u5165\u529b\u304c\u3067\u304d\u307e\u305b\u3093\u305f\u3081\u3054\u6ce8\u610f\u304f\u3060\u3055\u3044\u3002<\/strong><\/span><\/p>\n<p>&nbsp;<\/p>\n<p>&nbsp;<\/p>\n<p>&nbsp;<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/02\/advancedSetting0.png\" alt=\"\" width=\"3886\" height=\"1306\" class=\"alignnone size-full wp-image-346553\" srcset=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/02\/advancedSetting0.png 3886w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/02\/advancedSetting0-300x101.png 300w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/02\/advancedSetting0-1024x344.png 1024w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/02\/advancedSetting0-768x258.png 768w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/02\/advancedSetting0-1536x516.png 1536w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/02\/advancedSetting0-2048x688.png 2048w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/02\/advancedSetting0-595x200.png 595w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/02\/advancedSetting0-426x143.png 426w\" sizes=\"auto, (max-width: 3886px) 100vw, 3886px\" \/><\/p>\n<p>&nbsp;<\/p>\n<p>\u62bc\u4e0b\u3059\u308b\u3053\u3068\u3067\u4ee5\u4e0b\u306e\u8a2d\u5b9a\u753b\u9762\u304c\u8868\u793a\u3055\u308c\u307e\u3059\u3002<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/02\/advancedSetting.png\" alt=\"\" width=\"412\" height=\"377\" class=\"alignnone size-full wp-image-346551\" srcset=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/02\/advancedSetting.png 412w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/02\/advancedSetting-300x275.png 300w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/02\/advancedSetting-219x200.png 219w\" sizes=\"auto, (max-width: 412px) 100vw, 412px\" \/><\/p>\n<p>\u3053\u3053\u3067\u8a2d\u5b9a\u3057\u305f\u30d1\u30e9\u30e1\u30fc\u30bf\u306f\u5f8c\u8ff0\u3055\u308c\u308b\u901f\u5ea6\u30fb\u52a0\u901f\u5ea6\u306e\u30d1\u30e9\u30e1\u30fc\u30bf\u8a2d\u5b9a\u3088\u308a\u512a\u5148\u3057\u3066\u63a1\u7528\u3055\u308c\u308b\u305f\u3081\u3001\u5168\u4f53\u306e\u901f\u5ea6\u8a2d\u5b9a\u3068\u306f\u72ec\u7acb\u3057\u3066\u901f\u5ea6\u3092\u8a2d\u5b9a\u3057\u305f\u3044\u5834\u5408\u306b\u6709\u52b9\u3067\u3059\u3002<br \/>\n\u4ee5\u4e0b\u306e\u30d1\u30e9\u30e1\u30fc\u30bf\u306f\u2611\u3092\u3064\u3051\u305f\u3082\u306e\u306e\u307f\u6709\u52b9\u3068\u306a\u308a\u3001\u5404\u30d1\u30e9\u30e1\u30fc\u30bf\u8aac\u660e\u306f\u5f8c\u8ff0\u3055\u308c\u308b\u3082\u306e\u3068\u540c\u69d8\u3068\u306a\u308a\u307e\u3059\u3002<\/p>\n<ul>\n<li>Speed<\/li>\n<li>Acceleration<\/li>\n<li>CP<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n<p>\u307e\u305f\u3001\u672c\u8a2d\u5b9a\u3067\u306f\u300c\u3053\u306e\u79fb\u52d5\u547d\u4ee4\u3067\u6307\u5b9a\u3057\u305f\u5ea7\u6a19\u3078\u79fb\u52d5\u3059\u308b\u307e\u3067\u306e\u9593\u3067\u3001\u4e00\u5b9a\u8ddd\u96e2\u79fb\u52d5\u5f8c\u306b\u7279\u5b9a\u306eDO\u3092ON\/OFF\u306b\u3057\u305f\u3044\u300d\u5834\u5408\u306b\u3082\u6709\u52b9\u3067\u3059\u3002<br \/>\nDO\u64cd\u4f5c\u3059\u308b\u30bf\u30a4\u30df\u30f3\u30b0\u30fb\u30c8\u30ea\u30ac\u30fc\u3068\u306a\u308b\u8ddd\u96e2\u306e\u6307\u5b9a\u65b9\u6cd5\u306f2\u3064\u3054\u3056\u3044\u307e\u3059\u3002<\/p>\n<ul>\n<li>\u300c\u8ddd\u96e2\u300d<br \/>\n\u59cb\u70b9\u307e\u305f\u306f\u7d42\u70b9\u304b\u3089\u306e\u5b9f\u969b\u306e\u8ddd\u96e2\u3092[mm]\u5358\u4f4d\u3067\u6307\u5b9a\u3057\u307e\u3059<br \/>\n\u6b63\u306e\u5024\uff1a\u59cb\u70b9\u304b\u3089\u306e\u8ddd\u96e2<br \/>\n\u8ca0\u306e\u5024\uff1a\u7d42\u70b9\u304b\u3089\u306e\u8ddd\u96e2<br \/>\n<span style=\"color: #ff0000;\"><strong>\u3010\u6ce8\u610f\u3011DobotStudioPro2.8.0~\u3067\u306f\u8ddd\u96e2\u6307\u5b9a\u306b\u3064\u3044\u3066\u8ca0\u306e\u5024\u306e\u5165\u529b\u304c\u3067\u304d\u307e\u305b\u3093\u305f\u3081\u3054\u6ce8\u610f\u304f\u3060\u3055\u3044\u3002<br \/>\n<\/strong><\/span><\/li>\n<li>\u300c\u30d1\u30fc\u30bb\u30f3\u30c6\u30fc\u30b8\u300d<br \/>\n\u59cb\u70b9\u304b\u3089\u7d42\u70b9\u307e\u3067\u306e\u5168\u4f53\u306e\u79fb\u52d5\u91cf\u306b\u5bfe\u3059\u308b\u59cb\u70b9\u304b\u3089\u306e\u767e\u5206\u73870~100[\uff05]\u3067\u6307\u5b9a\u3057\u307e\u3059<br \/>\n\u3053\u3061\u3089\u306f\u6b63\u306e\u5024\u3067\u59cb\u70b9\u304b\u3089\u306e\u8ddd\u96e2\u306e\u5272\u5408\u306e\u307f\u3067\u3001\u8ca0\u306e\u5024\u306f\u6307\u5b9a\u3067\u304d\u307e\u305b\u3093\u3002<\/li>\n<\/ul>\n<p>&nbsp;<\/p>\n<p>\u4ee5\u4e0b\u306b\u4f8b\u3092\u793a\u3057\u307e\u3059\u3002<br \/>\nP1\u3078\u5230\u7740\u5f8c\u3001P2\u3078\u306e\u79fb\u52d5\u547d\u4ee4\u306bAdvanced Setting\u3092\u884c\u3063\u305f\u5834\u5408\u306e\u4f8b\u3068\u306a\u308a\u307e\u3059\u3002<br \/>\nP1\u3068P2\u306e\u8ddd\u96e2\u306f\u7c21\u5358\u306e\u305f\u3081100mm\u3068\u3057\u3066\u304a\u308a\u307e\u3059\u3002<\/p>\n<p>\u64cd\u4f5c\u3059\u308b\u306e\u306fDO_01\u3068DO_02\u306e\u4e8c\u70b9\u3068\u306a\u308a\u3001\u4ee5\u4e0b\u306e\u3088\u3046\u306b\u8a2d\u5b9a\u3044\u305f\u3057\u3066\u304a\u308a\u307e\u3059\u3002<br \/>\n\u2460DO_01\u3092<span style=\"color: #ff0000;\">\u59cb\u70b9\u304b\u308930mm<\/span>\u306e\u4f4d\u7f6e\u3067ON\u306b\u3059\u308b<br \/>\n\u2461DO_01\u3092<span style=\"color: #0000ff;\">\u7d42\u70b9\u304b\u308930mm\uff08\uff1d\u59cb\u70b9\u304b\u308970mm\uff09<\/span>\u306e\u4f4d\u7f6e\u3067OFF\u306b\u3059\u308b<br \/>\n\u2462DO_02\u3092<span style=\"color: #008000;\">\u79fb\u52d5\u7d4c\u8def\u5168\u4f53\u306e50%\uff08 100mm\u00d70.5=50mm \uff09<\/span>\u306e\u4f4d\u7f6e\u3067ON\u306b\u3059\u308b<\/p>\n<p>\u5b9f\u969b\u306e\u8a2d\u5b9a\u753b\u9762\u3068\u79fb\u52d5\u91cf\u306b\u5bfe\u3059\u308b\u30c8\u30ea\u30ac\u30fc\u306e\u4f4d\u7f6e\u95a2\u4fc2\u3067\u3059\u3002<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/02\/advancedSetting2-2-881x1024.png\" alt=\"\" width=\"500\" height=\"581\" class=\"aligncenter wp-image-346557\" srcset=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/02\/advancedSetting2-2-881x1024.png 881w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/02\/advancedSetting2-2-258x300.png 258w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/02\/advancedSetting2-2-768x893.png 768w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/02\/advancedSetting2-2-1321x1536.png 1321w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/02\/advancedSetting2-2-1762x2048.png 1762w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/02\/advancedSetting2-2-172x200.png 172w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/02\/advancedSetting2-2-426x495.png 426w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/02\/advancedSetting2-2.png 2029w\" sizes=\"auto, (max-width: 500px) 100vw, 500px\" \/><\/p>\n<p><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/02\/advancedSetting2-1-1.png\" alt=\"\" width=\"4053\" height=\"1297\" class=\"alignnone size-full wp-image-346560\" srcset=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/02\/advancedSetting2-1-1.png 4053w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/02\/advancedSetting2-1-1-300x96.png 300w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/02\/advancedSetting2-1-1-1024x328.png 1024w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/02\/advancedSetting2-1-1-768x246.png 768w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/02\/advancedSetting2-1-1-1536x492.png 1536w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/02\/advancedSetting2-1-1-2048x655.png 2048w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/02\/advancedSetting2-1-1-625x200.png 625w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/02\/advancedSetting2-1-1-426x136.png 426w\" sizes=\"auto, (max-width: 4053px) 100vw, 4053px\" \/><\/p>\n<p>\u4e0a\u8a18\u306e\u8a2d\u5b9a\u3067\u5b9f\u884c\u3057\u305f\u5834\u5408\u306e\u79fb\u52d5\u91cf\u3068DO_01, DO_02\u306eOFF\u306e\u5909\u5316\u306f\u4ee5\u4e0b\u306b\u306a\u308a\u307e\u3059\u3002<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/02\/advancedSetting4.png\" alt=\"\" width=\"4053\" height=\"2362\" class=\"alignnone size-full wp-image-346559\" srcset=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/02\/advancedSetting4.png 4053w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/02\/advancedSetting4-300x175.png 300w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/02\/advancedSetting4-1024x597.png 1024w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/02\/advancedSetting4-768x448.png 768w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/02\/advancedSetting4-1536x895.png 1536w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/02\/advancedSetting4-2048x1194.png 2048w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/02\/advancedSetting4-343x200.png 343w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/02\/advancedSetting4-426x248.png 426w\" sizes=\"auto, (max-width: 4053px) 100vw, 4053px\" \/><\/p>\n<p>&nbsp;<\/p>\n<p>DO_01\u306fP1\u304b\u3089P2\u3078\u79fb\u52d5\u3059\u308b\u9593\u306b\u59cb\u70b9\u304b\u308930mm\u3067ON\u3001\u7d42\u70b9\u304b\u308930mm(=\u59cb\u70b9\u304b\u308970mm)\u3067OFF\u306b\u5207\u308a\u66ff\u308f\u308a\u307e\u3059\u3002<br \/>\nDO_02\u306fON\u306e\u307e\u307eP2\u306b\u5230\u7740\u3057\u307e\u3059\u3002<\/p>\n<p>&nbsp;<\/p>\n<p>&nbsp;<\/p>\n<p>&nbsp;<\/p>\n<p>&nbsp;<\/p>\n<h6><strong>Move to target point\uff08With offset\uff09\uff1a\u57fa\u6e96\u70b9\u304b\u3089\u6307\u5b9a\u3057\u305f\u8ddd\u96e2\u306e\u79fb\u52d5<\/strong><\/h6>\n<p><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/01\/cbf5b9f60da99bf791c0aa12a770f429.jpg\" alt=\"\" width=\"510\" height=\"55\" class=\"alignnone wp-image-343697\" srcset=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/01\/cbf5b9f60da99bf791c0aa12a770f429.jpg 1019w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/01\/cbf5b9f60da99bf791c0aa12a770f429-300x32.jpg 300w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/01\/cbf5b9f60da99bf791c0aa12a770f429-768x83.jpg 768w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/01\/cbf5b9f60da99bf791c0aa12a770f429-426x46.jpg 426w\" sizes=\"auto, (max-width: 510px) 100vw, 510px\" \/><\/p>\n<p>\u89e3\u8aac\uff1a\u76f4\u4ea4\u5ea7\u6a19\u306b\u304a\u3051\u308b\u8ddd\u96e2\u3092\u6307\u5b9a\u3059\u308b\u3053\u3068\u3067\u3001\u57fa\u6e96\u70b9\u304b\u3089\u76ee\u6a19\u5730\u70b9\u3078\u4efb\u610f\u306e\u8ddd\u96e2\u3092\u79fb\u52d5\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002\uff08\u30c7\u30d5\u30a9\u30eb\u30c8\u306e\u57fa\u6e96\u70b9\u306f\u73fe\u5728\u306e\u4f4d\u7f6e\u306b\u8a2d\u5b9a\u3057\u3066\u3042\u308a\u307e\u3059\u3002\uff09<\/p>\n<p>\u30fb\u79fb\u52d5\u306e\u8ecc\u8de1\u306e\u7a2e\u985e\u306b\u306fRelMovJ\u3068RelMovL\u304c\u5b58\u5728\u3057\u307e\u3059\u3002<\/p>\n<p>MovJ\uff1a\u975e\u7dda\u5f62\u904b\u52d5\u306b\u3088\u308b\u30a2\u30fc\u30e0\u306e\u79fb\u52d5\u3000MovL\uff1a\u76f4\u7dda\u904b\u52d5\u306b\u3088\u308b\u30a2\u30fc\u30e0\u306e\u79fb\u52d5<\/p>\n<p>\u30fb\u57fa\u6e96\u70b9\u306f\u4e8b\u524d\u306b\u30dd\u30a4\u30f3\u30c8\u30ea\u30b9\u30c8\u306b\u4fdd\u5b58\u3057\u305f\u70b9\u304b\u3089\u3082\u9078\u629e\u304c\u53ef\u80fd\u3067\u3059\u3002<\/p>\n<p>\u203b\u76f4\u4ea4\u5ea7\u6a19\u306b\u304a\u3051\u308b\u8ddd\u96e2\u306e\u5358\u4f4d\u306f[mm]\u3067\u3059\u3002<\/p>\n<p>&nbsp;<\/p>\n<h6><strong>Circle motion\uff1a\u73fe\u5728\u5730\u70b9\u3068\uff12\u70b9\u3092\u7d50\u3076\u5186\u904b\u52d5<\/strong><\/h6>\n<h4><strong><\/strong><\/h4>\n<p><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/01\/circle.jpg\" alt=\"\" width=\"645\" height=\"63\" class=\"alignnone wp-image-343705\" srcset=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/01\/circle.jpg 931w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/01\/circle-300x29.jpg 300w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/01\/circle-768x75.jpg 768w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/01\/circle-426x42.jpg 426w\" sizes=\"auto, (max-width: 645px) 100vw, 645px\" \/><\/p>\n<p><strong><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/02\/circle-image-300x156.jpg\" alt=\"\" width=\"300\" height=\"156\" class=\"size-medium wp-image-343771 alignright\" srcset=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/02\/circle-image-300x156.jpg 300w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/02\/circle-image-1024x534.jpg 1024w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/02\/circle-image-768x400.jpg 768w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/02\/circle-image-384x200.jpg 384w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/02\/circle-image-426x222.jpg 426w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/02\/circle-image.jpg 1251w\" sizes=\"auto, (max-width: 300px) 100vw, 300px\" \/><\/strong><\/p>\n<p>\u89e3\u8aac\uff1a\u4e2d\u9593\u70b9\u3068\u76ee\u6a19\u70b9\u3092\u6307\u5b9a\u3059\u308b\u3053\u3068\u3067\u3001\u73fe\u5728\u5730\u70b9\u3001\u4e2d\u9593\u70b9\u3001\u76ee\u6a19\u70b9\u306e3\u70b9\u3092\u7d50\u3076\u5186\u904b\u52d5\u3092\u884c\u3044\u307e\u3059\u3002<\/p>\n<p>\u30fb\u4e2d\u9593\u70b9\u304a\u3088\u3073\u76ee\u6a19\u70b9\u306f\u30dd\u30a4\u30f3\u30c8\u30ea\u30b9\u30c8\u306b\u4fdd\u5b58\u3057\u305f\u70b9\u304b\u3089\u9078\u629e\u304c\u53ef\u80fd\u3067\u3059\u3002<\/p>\n<p>\u30fb\u5186\u904b\u52d5\u3092\u7e70\u308a\u8fd4\u3059\u56de\u6570\u306e\u8a2d\u5b9a\u3082\u3067\u304d\u307e\u3059\u3002<\/p>\n<p>&nbsp;<\/p>\n<h6><strong>Arc motion\uff1a\u73fe\u5728\u5730\u70b9\u304b\u3089\u76ee\u6a19\u70b9\u3078\u5186\u5f27\u904b\u52d5\u306b\u3088\u308b\u79fb\u52d5<\/strong><\/h6>\n<h4><strong><\/strong><\/h4>\n<p><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/01\/arc.jpg\" alt=\"\" width=\"594\" height=\"70\" class=\"alignnone wp-image-343704\" srcset=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/01\/arc.jpg 832w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/01\/arc-300x35.jpg 300w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/01\/arc-768x90.jpg 768w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/01\/arc-426x50.jpg 426w\" sizes=\"auto, (max-width: 594px) 100vw, 594px\" \/><\/p>\n<p><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/02\/arc-image-300x137.jpg\" alt=\"\" width=\"300\" height=\"137\" class=\"size-medium wp-image-343770 alignright\" srcset=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/02\/arc-image-300x137.jpg 300w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/02\/arc-image-1024x468.jpg 1024w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/02\/arc-image-768x351.jpg 768w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/02\/arc-image-438x200.jpg 438w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/02\/arc-image-426x195.jpg 426w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/02\/arc-image.jpg 1442w\" sizes=\"auto, (max-width: 300px) 100vw, 300px\" \/><\/p>\n<p>\u89e3\u8aac\uff1a\u4e2d\u9593\u70b9\u3068\u76ee\u6a19\u70b9\u3092\u6307\u5b9a\u3059\u308b\u3053\u3068\u3067\u3001\u73fe\u5728\u5730\u70b9\u304b\u3089\u4e2d\u9593\u70b9\u3092\u901a\u308a\u3001\u76ee\u6a19\u70b9\u3078\u5230\u9054\u3059\u308b\u3088\u3046\u306b\u5186\u5f27\u3092\u63cf\u304f\u904b\u52d5\u3092\u3057\u307e\u3059\u3002<\/p>\n<p>\u30fb\u4e2d\u9593\u70b9\u304a\u3088\u3073\u76ee\u6a19\u70b9\u306f\u30dd\u30a4\u30f3\u30c8\u30ea\u30b9\u30c8\u306b\u4fdd\u5b58\u3057\u305f\u70b9\u304b\u3089\u9078\u629e\u304c\u53ef\u80fd\u3067\u3059\u3002<\/p>\n<p>\u203bCircle motion\u306e\u52d5\u304d\u3092\u3082\u3068\u306b\u3057\u3066\u3044\u308b\u305f\u3081\u3001\u898b\u304b\u3051\u4e0a\u3067\u306f\u5186\u5f27\u306e\u904b\u52d5\u304c\u53ef\u80fd\u3067\u3042\u3063\u3066\u3082\u3001\u5186\u904b\u52d5\u3067\u8003\u616e\u3057\u305f\u969b\u306b\uff08\u56f3\u306e\u4e0b\u90e8\u5206\uff09<\/p>\n<p>\u7a3c\u50cd\u7bc4\u56f2\u5916\u306b\u306a\u308b\u70b9\u3092\u8a2d\u5b9a\u3057\u3066\u3044\u308b\u5834\u5408\u306f\u30a8\u30e9\u30fc\u304c\u751f\u3058\u307e\u3059\u3002<\/p>\n<p>&nbsp;<\/p>\n<h6><strong>set joint acceleration percentage\uff1a\u975e\u7dda\u5f62\u904b\u52d5\u6642\u306e\u52a0\u901f\u5ea6\u6bd4\u306e\u8a2d\u5b9a\uff08joint accel ratio\uff09<\/strong><\/h6>\n<p>\u5de6\u56f3\uff1aMG400\u00a0 , \u53f3\u56f3\uff1aCR\u30b7\u30ea\u30fc\u30ba<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/01\/set-joint-acc-300x69.jpg\" alt=\"\" width=\"300\" height=\"69\" class=\"size-medium wp-image-343711 alignnone\" srcset=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/01\/set-joint-acc-300x69.jpg 300w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/01\/set-joint-acc-426x98.jpg 426w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/01\/set-joint-acc.jpg 459w\" sizes=\"auto, (max-width: 300px) 100vw, 300px\" \/>\u00a0 \u00a0 \u00a0<img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/01\/joint-acc.jpg\" alt=\"\" width=\"169\" height=\"56\" class=\"alignnone size-full wp-image-343712\" \/><\/p>\n<p>\u89e3\u8aac\uff1aMovJ\u3084RelMovJ\u306a\u3069\u306e\u975e\u7dda\u5f62\u904b\u52d5\u306e\u969b\u306e\u52a0\u901f\u5ea6\u6bd4\u3092\uff080\uff5e100%\u306e\u7bc4\u56f2\u3067\uff09\u8a2d\u5b9a\u3059\u308b\u3053\u3068\u304c\u53ef\u80fd\u3067\u3059\u3002<\/p>\n<p>&nbsp;<\/p>\n<h6><strong>set joint speed percentage\uff1a\u975e\u7dda\u5f62\u904b\u52d5\u6642\u306e\u901f\u5ea6\u6bd4\u306e\u8a2d\u5b9a\uff08joint speed ratio\uff09<\/strong><\/h6>\n<p>\u5de6\u56f3\uff1aMG400\u00a0 , \u53f3\u56f3\uff1aCR\u30b7\u30ea\u30fc\u30ba<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/01\/set-joint-speed-300x70.jpg\" alt=\"\" width=\"278\" height=\"65\" class=\"alignnone wp-image-343715\" srcset=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/01\/set-joint-speed-300x70.jpg 300w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/01\/set-joint-speed.jpg 355w\" sizes=\"auto, (max-width: 278px) 100vw, 278px\" \/> <img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/01\/joint-speed.jpg\" alt=\"\" width=\"199\" height=\"60\" class=\"alignnone wp-image-343716\" \/><\/p>\n<p>\u89e3\u8aac\uff1aMovJ\u3084RelMovJ\u306a\u3069\u306e\u975e\u7dda\u5f62\u904b\u52d5\u306e\u969b\u306e\u901f\u5ea6\u6bd4\u3092\uff080\uff5e100%\u306e\u7bc4\u56f2\u3067\uff09\u8a2d\u5b9a\u3059\u308b\u3053\u3068\u304c\u53ef\u80fd\u3067\u3059\u3002<\/p>\n<p>&nbsp;<\/p>\n<h6><strong>set linear acceleration percentage\uff1a\u76f4\u7dda\u904b\u52d5\u3084\u5186\u5f27\u904b\u52d5\u306e\u52a0\u901f\u5ea6\u6bd4\u306e\u8a2d\u5b9a\uff08linear accel ratio\uff09<\/strong><\/h6>\n<p>\u5de6\u56f3\uff1aMG400\u00a0 , \u53f3\u56f3\uff1aCR\u30b7\u30ea\u30fc\u30ba<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/01\/set-linear-acc-300x69.jpg\" alt=\"\" width=\"300\" height=\"69\" class=\"alignnone size-medium wp-image-343718\" srcset=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/01\/set-linear-acc-300x69.jpg 300w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/01\/set-linear-acc-426x98.jpg 426w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/01\/set-linear-acc.jpg 458w\" sizes=\"auto, (max-width: 300px) 100vw, 300px\" \/> <img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/01\/linear-acc.jpg\" alt=\"\" width=\"163\" height=\"63\" class=\"alignnone size-medium wp-image-343719\" \/><\/p>\n<p>\u89e3\u8aac\uff1aMovL\u3084RelMovL\u3001Arc\u3084Circle\u306a\u3069\u306e\u76f4\u7dda\u904b\u52d5\u3001\u5186\u904b\u52d5\u306e\u52a0\u901f\u5ea6\u6bd4\u3092\uff080\uff5e100%\u306e\u7bc4\u56f2\u3067\uff09\u8a2d\u5b9a\u3059\u308b\u3053\u3068\u304c\u53ef\u80fd\u3067\u3059\u3002<\/p>\n<p>&nbsp;<\/p>\n<h6><strong>set linear speed percentage\uff1a\u76f4\u7dda\u904b\u52d5\u3084\u5186\u5f27\u904b\u52d5\u306e\u901f\u5ea6\u6bd4\u306e\u8a2d\u5b9a<\/strong><\/h6>\n<p><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/01\/set-linear-speed.jpg\" alt=\"\" width=\"252\" height=\"60\" class=\"alignnone wp-image-343720\" \/><\/p>\n<p>\u89e3\u8aac\uff1aMovL\u3084RelMovL\u3001Arc\u3084Circle\u306a\u3069\u306e\u76f4\u7dda\u904b\u52d5\u3001\u5186\u904b\u52d5\u306e\u901f\u5ea6\u6bd4\u3092\uff080\uff5e100%\u306e\u7bc4\u56f2\u3067\uff09\u8a2d\u5b9a\u3059\u308b\u3053\u3068\u304c\u53ef\u80fd\u3067\u3059\u3002<\/p>\n<p>\u203b\u901f\u5ea6\u306e\u8a2d\u5b9a\u65b9\u6cd5\u306b\u3064\u3044\u3066\u306f\u5225\u306e\u8a18\u4e8b<a href=\"https:\/\/techshare.co.jp\/faq\/dobot\/mg400\/mg400_set_velocity_option.html\" target=\"_blank\" rel=\"noopener\">[MG400\u3001CR\u30b7\u30ea\u30fc\u30ba\u306e\u901f\u5ea6\u8a2d\u5b9a\u65b9\u6cd5]<\/a>\u3067\u3082\u7d39\u4ecb\u3057\u3066\u304a\u308a\u307e\u3059\u306e\u3067\u53c2\u7167\u304f\u3060\u3055\u3044\u3002<\/p>\n<p>&nbsp;<\/p>\n<h6><strong>Set CP ratio\uff1a\u52d5\u4f5c\u4e2d\u306e\u7d4c\u8def\u306e\u6bd4\u7387\u306e\u8a2d\u5b9a<\/strong><\/h6>\n<p><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/01\/move_cp-300x150.png\" alt=\"\" width=\"300\" height=\"150\" class=\"size-medium wp-image-343725 alignright\" srcset=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/01\/move_cp-300x150.png 300w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/01\/move_cp-401x200.png 401w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/01\/move_cp-426x212.png 426w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/01\/move_cp.png 654w\" sizes=\"auto, (max-width: 300px) 100vw, 300px\" \/><\/p>\n<p>\u5de6\u56f3\uff1aMG400\u00a0 , \u53f3\u56f3\uff1aCR\u30b7\u30ea\u30fc\u30ba<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/01\/set-smooth-300x71.jpg\" alt=\"\" width=\"300\" height=\"71\" class=\"alignnone size-medium wp-image-343723\" srcset=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/01\/set-smooth-300x71.jpg 300w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/01\/set-smooth-426x100.jpg 426w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/01\/set-smooth.jpg 438w\" sizes=\"auto, (max-width: 300px) 100vw, 300px\" \/> <img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/01\/path-ratio.jpg\" alt=\"\" width=\"191\" height=\"61\" class=\"alignnone size-medium wp-image-343724\" \/><\/p>\n<p>\u89e3\u8aac\uff1a\u30ed\u30dc\u30c3\u30c8\u304c\u59cb\u70b9\u304b\u3089\u4e2d\u9593\u5730\u70b9\u3092\u7d4c\u7531\u3057\u7d42\u70b9\u307e\u3067\u79fb\u52d5\u3059\u308b\u969b\u306b\u7d4c\u7531\u5730\u70b9\u3092\u76f4\u7dda\u3067\u79fb\u52d5\u3059\u308b\u304b\u3001\u66f2\u7dda\u3067\u79fb\u52d5\u3059\u308b\u304b\u3092\u53f3\u56f3\u306e\u3088\u3046\u306b\u8a2d\u5b9a\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002<\/p>\n<p>\u30fb\u6bd4\u7387\u3092\uff080\uff5e100%\u306e\u7bc4\u56f2\u3067\uff09\u8a2d\u5b9a\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u3001\u6bd4\u7387\u304c\u9ad8\u3044\u307b\u3069\u66f2\u7dda\u3092\u63cf\u304d\u307e\u3059\u3002<\/p>\n<p>&nbsp;<\/p>\n<h6><strong>Sync command\uff1a\u30d7\u30ed\u30b0\u30e9\u30e0\u306e\u540c\u671f<\/strong><\/h6>\n<p>\u5de6\u56f3\uff1aMG400\u00a0 , \u53f3\u56f3\uff1aCR\u30b7\u30ea\u30fc\u30ba<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/02\/sync-at.jpg\" alt=\"\" width=\"133\" height=\"65\" class=\"alignnone wp-image-343747\" \/>\u3000<img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/01\/sync.jpg\" alt=\"\" width=\"112\" height=\"65\" class=\"alignnone wp-image-343728\" \/><\/p>\n<p>\u89e3\u8aac\uff1a\u3053\u306e\u30b3\u30de\u30f3\u30c9\u304c\u5b9f\u884c\u3055\u308c\u308b\u3068\u3001\u305d\u308c\u307e\u3067\u306b\u6d41\u3057\u305f\u3059\u3079\u3066\u306e\u30b3\u30de\u30f3\u30c9\u304c\u5b9f\u884c\u3055\u308c\u308b\u307e\u3067\u5f85\u3061\u307e\u3059\u3002\u305d\u306e\u5f8c\u3001\u4ee5\u964d\u306e\u30b3\u30de\u30f3\u30c9\u3092\u7d99\u7d9a\u3057\u3066\u5b9f\u884c\u3057\u307e\u3059\u3002<\/p>\n<div>Sync()\u306f\u3053\u306e\u547d\u4ee4\u524d\u307e\u3067\u306b\u6307\u793a\u3057\u305f\u30ed\u30dc\u30c3\u30c8\u306b\u52d5\u304d\u306b\u95a2\u9023\u3059\u308b\u547d\u4ee4\u3092\u3059\u3079\u3066\u5b9f\u884c\u3059\u308b\u307e\u3067\u6b21\u306e\u547d\u4ee4\u306b\u9032\u307e\u306a\u3044\u3088\u3046<\/div>\n<div>\u5f85\u3061\u5408\u308f\u305b\u308b\u305f\u3081\u306e\u547d\u4ee4\u3067\u3059\u3002<\/div>\n<div>\u4f8b\u3048\u3070DI\u306e\u5024\u3092\u8aad\u307f\u53d6\u308b\u547d\u4ee4\u3084\u73fe\u5728\u4f4d\u7f6e\u5ea7\u6a19\u3092\u53d6\u5f97\u3059\u308b\u547d\u4ee4\u306f\u30d7\u30ed\u30b0\u30e9\u30e0\u304c\u8aad\u307f\u8fbc\u307e\u308c\u305f\u6642\u70b9\u3067\u5373\u6642\u5b9f\u884c\u3055\u308c\u3066\u3057\u307e\u3046\u305f\u3081\u3001<\/div>\n<div>\u30ed\u30dc\u30c3\u30c8\u304c\u79fb\u52d5\u3057\u3066\u304b\u3089\u53d6\u5f97\u3057\u305f\u3044\u305d\u308c\u3089\u306e\u5024\u3092\u79fb\u52d5\u5b8c\u4e86\u524d\u306b\u53d6\u5f97\u3057\u307e\u3059\u3002<\/div>\n<div>\u305d\u308c\u3089\u306e\u547d\u4ee4\u306e\u76f4\u524d\u306bSync\u3092\u4f7f\u7528\u3059\u308b\u3053\u3068\u3067\u3001\u76f4\u524d\u307e\u3067\u306e\u30ed\u30dc\u30c3\u30c8\u306e\u52d5\u304d\u306e\u547d\u4ee4\u304c\u5b8c\u4e86\u5f8c\u306b\u5024\u3092\u8aad\u307f\u53d6\u308b\u3053\u3068\u306b\u306a\u308b\u306e\u3067\u3001<\/div>\n<div>\u610f\u56f3\u3057\u305f\u3088\u3046\u306b\u52d5\u4f5c\u3067\u304d\u308b\u3088\u3046\u306b\u306a\u308a\u307e\u3059\u3002<\/div>\n<div>\n<div><\/div>\n<div>\u4f8b\uff1aP1\u3078\u79fb\u52d5\u5f8c\u306bPLC\u304b\u3089\u306e\u30c7\u30b8\u30bf\u30eb\u4fe1\u53f7\u304c\u304f\u308b\u307e\u3067\u6b21\u306e\u547d\u4ee4\u306b\u9032\u307e\u305a\u5f85\u6a5f\u3059\u308b\u30d7\u30ed\u30b0\u30e9\u30e0<\/div>\n<div>MovL(P1)<\/div>\n<div>Sync() &#8211;\u3053\u3053\u306bSync\u304c\u306a\u3044\u3068MovL(P1)\u306e\u5b9f\u884c\u4e2d\u3082DI\u306b1\u304c\u5165\u3063\u3066\u308b\u304b\u3069\u3046\u304b\u78ba\u8a8d\u3057\u3066\u3044\u308b<\/div>\n<div>while(DI(1)=!1) do<\/div>\n<\/div>\n<div>\u00a0 \u00a0Sleep(100)<\/div>\n<div>end<\/div>\n<div><\/div>\n<div><\/div>\n<p>&nbsp;<\/p>\n<h4>3-2. \u30b7\u30ea\u30fc\u30ba\u5225\u306e\u79fb\u52d5\u30b3\u30de\u30f3\u30c9<\/h4>\n<h5>3-2-1. MG400\u306e\u79fb\u52d5\u30b3\u30de\u30f3\u30c9<\/h5>\n<h6><strong>Jump motion\uff1a\u73fe\u5728\u4f4d\u7f6e\u304b\u3089\u76ee\u6a19\u4f4d\u7f6e\u307e\u3067\u30a2\u30fc\u30c1\u72b6\u3092\u63cf\u304f\u79fb\u52d5<img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/02\/Jump-image-300x195.jpg\" alt=\"\" width=\"300\" height=\"195\" class=\"size-medium wp-image-343752 alignright\" srcset=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/02\/Jump-image-300x195.jpg 300w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/02\/Jump-image-1024x665.jpg 1024w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/02\/Jump-image-768x499.jpg 768w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/02\/Jump-image-308x200.jpg 308w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/02\/Jump-image-426x277.jpg 426w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/02\/Jump-image.jpg 1297w\" sizes=\"auto, (max-width: 300px) 100vw, 300px\" \/><\/strong><\/h6>\n<p><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/02\/Jump.jpg\" alt=\"\" width=\"748\" height=\"65\" class=\"alignnone wp-image-343749\" srcset=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/02\/Jump.jpg 1185w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/02\/Jump-300x26.jpg 300w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/02\/Jump-1024x89.jpg 1024w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/02\/Jump-768x67.jpg 768w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/02\/Jump-426x37.jpg 426w\" sizes=\"auto, (max-width: 748px) 100vw, 748px\" \/><\/p>\n<p>\u89e3\u8aac\uff1a\u73fe\u5728\u5730\u70b9\u304b\u3089h1[mm]\u3060\u3051\u5782\u76f4\u306b\u30a2\u30fc\u30e0\u3092\u4e0a\u3052\u3001z_limit\u306e\u9ad8\u3055\u3067xy\u5e73\u9762\u79fb\u52d5\u3057\u3066\u30a2\u30fc\u30c1\u3092\u63cf\u304d\u3001\u5782\u76f4\u306bh2[mm]\u4e0b\u964d\u3057\u3066\u76ee\u6a19\u5730\u70b9P\u306b\u79fb\u52d5\u3057\u307e\u3059\u3002<\/p>\n<p>\u30fb\u76ee\u6a19\u70b9\u306f\u30dd\u30a4\u30f3\u30c8\u30ea\u30b9\u30c8\u306b\u4fdd\u5b58\u3057\u305f\u70b9\u304b\u3089\u9078\u629e\u304c\u53ef\u80fd\u3067\u3059\u3002<\/p>\n<p>\u2460\u73fe\u5728\u5730\u70b9\u304b\u3089h1[mm]\u5206\uff08a\u70b9\u307e\u3067\uff09\u5782\u76f4\u306b\u30a2\u30fc\u30e0\u3092\u4e0a\u3052\u308b\u3002<\/p>\n<p>\u2461\u6700\u5927\u9ad8\u3055z_limit[mm]\uff08b\u70b9\uff09\u307e\u3067\u975e\u7dda\u5f62\u904b\u52d5\u3067\u79fb\u52d5\u3059\u308b\u3002<\/p>\n<p>\u2462\u76f4\u7dda\u904b\u52d5\u3067\u76ee\u6a19\u70b9\u65b9\u5411\uff08c\u70b9\uff09\u306b\u79fb\u52d5\u3059\u308b\u3002<\/p>\n<p>\u2463\u76ee\u6a19\u70b9P\u306eh2[mm]\u5206\u4e0a\u306e\u9ad8\u3055\u306e\u70b9\uff08d\u70b9\uff09\u307e\u3067\u975e\u7dda\u5f62\u904b\u52d5\u3067\u79fb\u52d5\u3059\u308b\u3002<\/p>\n<p>\u2464\u76ee\u6a19\u5730\u70b9P\u307e\u3067\u5782\u76f4\u306b\u4e0b\u964d\u3059\u308b\u3002<\/p>\n<p>&nbsp;<\/p>\n<h6><strong>Jump\u30d1\u30e9\u30e1\u30fc\u30bf\u306e\u8a2d\u5b9a\u65b9\u6cd5\u306b\u3064\u3044\u3066<\/strong><\/h6>\n<p>Jump\u30d1\u30e9\u30e1\u30fc\u30bf\u306e\u3046\u3061\u3001z_limit\u306f\u8a2d\u5b9a\u306b\u3088\u308a\u30a8\u30e9\u30fc\u304c\u767a\u751f\u3059\u308b\u53ef\u80fd\u6027\u304c\u3042\u308a\u307e\u3059\u3002<br \/>\nz_limit\u306e\u30d1\u30e9\u30e1\u30fc\u30bf\u306f\u300cA\u306e\u70b9\u304b\u3089\u3069\u308c\u3060\u3051\u4e0a\u306b\u79fb\u52d5\u3059\u308b\u304b\u300d\u306e\u76f8\u5bfe\u7684\u306a\u9ad8\u3055Z\u306e\u5024\u3067\u306f\u306a\u304f\u3001<br \/>\n\u300c\u3069\u306e\u9ad8\u3055\u3067xy\u5e73\u9762\u79fb\u52d5\u3057\u3066\u70b9P\u4e0a\u7a7a\u3078\u79fb\u52d5\u3059\u308b\u304b\u300d\u3092\u6307\u5b9a\u3059\u308b\u7d76\u5bfe\u7684\u306a\u9ad8\u3055\u306e\u5024\u3067\u3059\u3002<br \/>\n\u3053\u3053\u3067\u6307\u5b9a\u3057\u305fz_limit\u306e\u9ad8\u3055\u3067\u6307\u5b9a\u3057\u305f\u79fb\u52d5\u5148\u306e\u5ea7\u6a19P\u306e\u4e0a\u7a7a\u307e\u3067\u79fb\u52d5\u3057\u307e\u3059\u3002<\/p>\n<p>\u4f8b\u3048\u3070\u3001\u73fe\u5728\u4f4d\u7f6eA(300, -50, 50, 0)\u304b\u3089\u76ee\u6a19\u70b9P(250, 50, 50, 0)\u306e\u79fb\u52d5\u306e\u305f\u3081(h1,h2,z_limit)=(25,25,100)\u306e\u30d1\u30e9\u30e1\u30fc\u30bf\u3092\u8a2d\u5b9a\u3057\u305f\u5834\u5408\u3092\u8003\u3048\u307e\u3059\u3002<\/p>\n<p>a = (300, -50, 75, 0)\u3000-&gt; a_z = A_z + h1 = 75<br \/>\nb = (_, _, 100, 0) -&gt; z\u306fz_limit<br \/>\nc = (_, _, 100, 0) -&gt; z\u306fz_limit<br \/>\nd = (250, 50, 75, 0) -&gt; d_z = P_z + h2 = 75<\/p>\n<p>b,c\u306ex,y\u306fh1\u3068z_limit, h2\u3068z_limit\u306e\u95a2\u4fc2\u306b\u3088\u308a\u81ea\u52d5\u8a08\u7b97\u3055\u308c\u308b\u305f\u3081\u3001\u7a7a\u767d\u3068\u3057\u3066\u3044\u307e\u3059\u304c\u3001<br \/>\nA_z + h1 \u2267 z_limit\u3000\u306e\u5834\u5408\u306f\u3000a=b<br \/>\nP_z + h2 \u2267 z_limit\u3000\u306e\u5834\u5408\u306f\u3000c=d \u3068\u306a\u308a\u307e\u3059\u3002<br \/>\n\u4eca\u56de\u306e\u4f8b\u306e\u5834\u5408\u306f (h1,h2,z_limit) = (50,50,100)\u3068\u3059\u308b\u3068a=b,c=d\u3068\u306a\u308b\u305f\u3081\u3001\u89d2\u3092\u5207\u308b\u3088\u3046\u306b\u52d5\u304d\u307e\u3059\u3002<\/p>\n<p>\u307e\u305f\u3001z_limit\u306f\u79fb\u52d5\u524dA\u30fb\u79fb\u52d5\u5f8cP\u306e\u3044\u305a\u308c\u306eZ\u306e\u5024\u3088\u308a\u3082\u9ad8\u3044\u5ea7\u6a19\u5024\u3067\u8a2d\u5b9a\u3059\u308b\u5fc5\u8981\u304c\u3042\u308a\u3001<br \/>\nA_z + h1 \uff1e z_limit\u3000\u307e\u305f\u306f\u3000P_z + h2 \uff1e z_limit\u3000\u306e\u5834\u5408\u306f\u30a8\u30e9\u30fc\u3068\u306a\u308a\u307e\u3059\u3002<\/p>\n<p>&nbsp;<\/p>\n<p>&nbsp;<\/p>\n<h6><strong>Jump motion\uff08with preset jump parameters\uff09\uff1a\u73fe\u5728\u4f4d\u7f6e\u304b\u3089\u76ee\u6a19\u4f4d\u7f6e\u307e\u3067\u30a2\u30fc\u30c1\u72b6\u3092\u63cf\u304f\u79fb\u52d5\uff08\u4e8b\u524d\u306b\u30d1\u30e9\u30e1\u30fc\u30bf\u3092\u8a2d\u5b9a\uff09<\/strong><\/h6>\n<p><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/02\/Jump-arch.jpg\" alt=\"\" width=\"455\" height=\"65\" class=\"alignnone wp-image-343754\" srcset=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/02\/Jump-arch.jpg 819w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/02\/Jump-arch-300x43.jpg 300w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/02\/Jump-arch-768x110.jpg 768w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/02\/Jump-arch-426x61.jpg 426w\" sizes=\"auto, (max-width: 455px) 100vw, 455px\" \/><\/p>\n<p>\u89e3\u8aac\uff1a\u73fe\u5728\u5730\u70b9\u304b\u3089\u30a2\u30fc\u30c1\u72b6\u3092\u63cf\u304d\u3001\u76ee\u6a19\u5730\u70b9P\u306b\u79fb\u52d5\u3057\u307e\u3059\u3002<\/p>\n<p>\u30fb\u76ee\u6a19\u70b9\u306f\u30dd\u30a4\u30f3\u30c8\u30ea\u30b9\u30c8\u306b\u4fdd\u5b58\u3057\u305f\u70b9\u304b\u3089\u9078\u629e\u304c\u53ef\u80fd\u3067\u3059\u3002<\/p>\n<p>\u30fbJump motion\u3067\u306f\u76f4\u63a5\u30d1\u30e9\u30e1\u30fc\u30bf\u3092\u8a2d\u5b9a\u3059\u308b\u306e\u306b\u5bfe\u3057\u3001Jump motion\uff08with preset jump parameters\uff09\u3067\u306f\u4e8b\u524d\u306bh1,h2,z_limit\u3092\u8a2d\u5b9a\u3057\u3001Index\u306e\u9078\u629e\u3092\u3057\u307e\u3059\u3002<\/p>\n<p>Setting\u3000\u2192\u3000Motion Parameter\u3000\u2192\u3000Jump Setting\u304b\u3089\u8a2d\u5b9a\u304c\u53ef\u80fd\u3067\u3059\u3002<\/p>\n<p>&nbsp;<\/p>\n<h6><strong>Control aux joint motion\uff1a\u30b9\u30e9\u30a4\u30c0\u30fc\u30ec\u30fc\u30eb\u306e\u5236\u5fa1<\/strong><\/h6>\n<p><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/02\/Aux-joint.jpg\" alt=\"\" width=\"607\" height=\"65\" class=\"alignnone wp-image-343764\" srcset=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/02\/Aux-joint.jpg 1009w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/02\/Aux-joint-300x32.jpg 300w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/02\/Aux-joint-768x82.jpg 768w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/02\/Aux-joint-426x46.jpg 426w\" sizes=\"auto, (max-width: 607px) 100vw, 607px\" \/><\/p>\n<p>\u89e3\u8aac\uff1aProcess\u3000\u2192\u3000Aux Joint\u304b\u3089\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3092\u3057\u3001\u8a2d\u5b9a\u3092\u884c\u3046\u3053\u3068\u3067\u30b9\u30e9\u30a4\u30c0\u30fc\u30ec\u30fc\u30eb\u3092\u5236\u5fa1\u3067\u304d\u308b\u3088\u3046\u306b\u306a\u308a\u307e\u3059\u3002<\/p>\n<p>\u30fb\u8a2d\u5b9a\u3057\u305f\u89d2\u5ea6\u307e\u305f\u306f\u8ddd\u96e2\u5206\u3060\u3051\u30b9\u30e9\u30a4\u30c0\u30fc\u30ec\u30fc\u30eb\u3092\u52d5\u304b\u3057\u307e\u3059\u3002\uff08Aux Joint\u5185\u306eAdvanced Setting\u3067\u8a2d\u5b9a\u3057\u305f\u52d5\u4f5c\u7a2e\u985e\u306b\u4f9d\u5b58\u3057\u307e\u3059\u3002\uff09<\/p>\n<p>joint\uff1a\u30b8\u30e7\u30a4\u30f3\u30c8\uff08\u5358\u4f4d\u306f[\u00b0]\uff09\u3000linear\uff1a\u30ea\u30cb\u30a2\uff08\u5358\u4f4d\u306f[mm]\uff09<\/p>\n<p>\u30fb\u79fb\u52d5\u6642\u306e\u901f\u5ea6\u6bd4\u53ca\u3073\u52a0\u901f\u5ea6\u6bd4\u3092\u8a2d\u5b9a\u3059\u308b\u3053\u3068\u304c\u53ef\u80fd\u3067\u3059\u3002<\/p>\n<p>\u30fbSync\u30b3\u30de\u30f3\u30c9\u306e\u6709\u7121\u3092\u8a2d\u5b9a\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002\uff08Sync command\u53c2\u7167\uff09<\/p>\n<p>&nbsp;<\/p>\n<h5>3-2-2. CR\u30b7\u30ea\u30fc\u30ba\u306e\u79fb\u52d5\u30b3\u30de\u30f3\u30c9<\/h5>\n<h6><strong>Joint offset motion\uff1a\u73fe\u5728\u4f4d\u7f6e<\/strong><strong>\u304b\u3089\u6307\u5b9a\u3057\u305f\u89d2\u5ea6\u306e\u79fb\u52d5<\/strong><\/h6>\n<h6><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/02\/joint-offset.jpg\" alt=\"\" width=\"511\" height=\"58\" class=\"alignnone wp-image-343765 size-full\" srcset=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/02\/joint-offset.jpg 511w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/02\/joint-offset-300x34.jpg 300w, https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/02\/joint-offset-426x48.jpg 426w\" sizes=\"auto, (max-width: 511px) 100vw, 511px\" \/><\/h6>\n<p>\u89e3\u8aac\uff1a\u95a2\u7bc0\u5ea7\u6a19\u306b\u304a\u3051\u308b\u89d2\u5ea6\u3092\u6307\u5b9a\u3059\u308b\u3053\u3068\u3067\u3001\u73fe\u5728\u5730\u70b9\u304b\u3089\u5404\u8ef8\u3054\u3068\u306b\u4efb\u610f\u306e\u89d2\u5ea6\u5206\u79fb\u52d5\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002<\/p>\n<p>\u203b\u95a2\u7bc0\u5ea7\u6a19\u306b\u304a\u3051\u308b\u30d1\u30e9\u30e1\u30fc\u30bf\u306e\u5358\u4f4d\u306f[\u00b0]\u3067\u3059\u3002<\/p>\n<p>&nbsp;<\/p>\n<h6><strong>Trajectory playback\uff1a\u4fdd\u5b58\u3057\u305f\u30ed\u30dc\u30c3\u30c8\u306e\u8ecc\u8de1\u306e\u518d\u751f<\/strong><\/h6>\n<p><strong><img loading=\"lazy\" decoding=\"async\" src=\"https:\/\/techshare.co.jp\/faq\/wp-content\/uploads\/2023\/02\/Trajectory-playback.jpg\" alt=\"\" width=\"293\" height=\"58\" class=\"alignnone size-full wp-image-343768\" \/><\/strong><\/p>\n<p>\u89e3\u8aac\uff1aCR\u30b7\u30ea\u30fc\u30ba\u306b\u3042\u308b\u8ecc\u9053\u518d\u73fe\u6a5f\u80fd\u3092\u7528\u3044\u3066\u4fdd\u5b58\u3057\u305f\u8ecc\u8de1\u306e\u30d5\u30a1\u30a4\u30eb\u3092\u9078\u629e\u3059\u308b\u3053\u3068\u3067\u3001\u4efb\u610f\u306e\u8ecc\u9053\u3092\u518d\u751f\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002<\/p>\n<p>\u30fb\u518d\u751f\u6642\u306e\u901f\u5ea6\u3092\u300c\u7b49\u901f\u30010.25\u500d\u901f\u30010.5\u500d\u901f\u30011\u500d\u901f\u30012\u500d\u901f\u300d\u304b\u3089\u9078\u629e\u3057\u3001\u8a2d\u5b9a\u3059\u308b\u3053\u3068\u304c\u53ef\u80fd\u3067\u3059\u3002<\/p>\n<p>&nbsp;<\/p>\n<p><strong>\u968f\u6642\u66f4\u65b0\u4e2d<\/strong><\/p>\n<p>&nbsp;<\/p>\n","protected":false},"excerpt":{"rendered":"<p>1. \u306f\u3058\u3081\u306b \u672c\u7a3f\u3067\u306f\u3001\u5236\u5fa1\u30bd\u30d5\u30c8\u30a6\u30a7\u30a2DobotStudioPro\u3067\u30d7\u30ed\u30b0\u30e9\u30e0\u4f5c\u6210\u6642\u306b\u5229\u7528\u3067\u304d\u308bBlockly\u306b\u304a\u3044\u3066\u6700\u3082\u983b\u7e41\u306b\u4f7f\u7528\u3055\u308c\u308b\u79fb\u52d5\u30b3\u30de\u30f3\u30c9\u306e\u7d39\u4ecb\u3092\u3057\u307e\u3059\u3002<\/p>\n","protected":false},"author":12,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"image","meta":{"footnotes":""},"categories":[13,25,40,30,5,46],"tags":[],"class_list":["post-343678","post","type-post","status-publish","format-image","hentry","category-cr-series","category-dobot","category-dobot-manual","category-m1pro","category-mg400","category-nova-series","post_format-post-format-image"],"_links":{"self":[{"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/posts\/343678","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/users\/12"}],"replies":[{"embeddable":true,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/comments?post=343678"}],"version-history":[{"count":55,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/posts\/343678\/revisions"}],"predecessor-version":[{"id":346953,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/posts\/343678\/revisions\/346953"}],"wp:attachment":[{"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/media?parent=343678"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/categories?post=343678"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/techshare.co.jp\/faq\/wp-json\/wp\/v2\/tags?post=343678"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}