Continuous Path (CP) Motion¶
CP motion refers to a type of motion in which the robot’s end-effector moves continuously along a specified path. In this method, the robot is continuously controlled along the path even during movement, and it is used for tasks where the “path itself” is important, rather than simple position movement.
The main features of CP motion are as follows.
Precise path control
In CP motion, the path the robot takes directly affects the quality of the work, so a high degree of precise control is required.
Smooth speed change
The speed change during movement is natural, and it operates smoothly without sudden stops or starts. This characteristic contributes to work stability and quality improvement.
Multi-axis control support
Since multiple axes can be controlled simultaneously, even complex 3D curved paths can be executed smoothly.
Suitable for complex path-based processes
It is particularly effective in processes such as welding, bonding, and painting, where the work is performed along a path rather than simple position transfer.
Application of robot coordinate system
Basically, it moves based on the Base Coordinate, but by applying the Work Coordinate, the robot can be operated from the changed reference.
By applying the Tool Coordinate, you can define the operation based on the changed tool position, enabling more precise and intuitive motion control.
The currently supported CP motions are as follows.