9B - Using Push Moco to create a move incl track¶
▶ 9B - Using Push Moco to create a move incl track — Watch on YouTube
okay so I'm going to show you now how to okay so I'm going to show you now how to um create move this time using the track um create move this time using the track um create move this time using the track as well so moveing along the rails with as well so moveing along the rails with as well so moveing along the rails with the robot so just to show you a few the robot so just to show you a few the robot so just to show you a few other things first I'm going to I other things first I'm going to I other things first I'm going to I already have a move here that we created already have a move here that we created already have a move here that we created before uh but I'm going to clean it I'm before uh but I'm going to clean it I'm before uh but I'm going to clean it I'm going to basically create a new move so going to basically create a new move so going to basically create a new move so I'm going to go file new I could go and I'm going to go file new I could go and I'm going to go file new I could go and save it for example I could give it a save it for example I could give it a save it for example I could give it a name so save it give a name this is name so save it give a name this is name so save it give a name this is um my first um my first um my first job okay and it's then saved uh but I'm job okay and it's then saved uh but I'm job okay and it's then saved uh but I'm actually just going to delete actually just going to delete actually just going to delete that so do you are you sure you want to that so do you are you sure you want to that so do you are you sure you want to clear the current job yes and you see it clear the current job yes and you see it clear the current job yes and you see it clears the way points and now I'm free clears the way points and now I'm free clears the way points and now I'm free to start so as with any push Moco move to start so as with any push Moco move to start so as with any push Moco move uh the first thing you do is uh the first thing you do is uh the first thing you do is you move it to your first key frame so you move it to your first key frame so you move it to your first key frame so I'm going to put it into free I'm going to put it into free I'm going to put it into free Drive Drive Drive okay push there I as you can see I've okay push there I as you can see I've okay push there I as you can see I've got this button here to push or I can got this button here to push or I can got this button here to push or I can use my Bluetooth as well use my Bluetooth as well use my Bluetooth as well um I'm now free to push it but my track um I'm now free to push it but my track um I'm now free to push it but my track isn't moving Okay the reason it's not isn't moving Okay the reason it's not isn't moving Okay the reason it's not moving is because it has a brake and I moving is because it has a brake and I moving is because it has a brake and I have to release the brake there's a have to release the brake there's a have to release the brake there's a little button here when I press that it little button here when I press that it little button here when I press that it actually releases the brake on the track actually releases the brake on the track actually releases the brake on the track so I can now push it okay I can actually so I can now push it okay I can actually so I can now push it okay I can actually drag the whole thing like that so I can drag the whole thing like that so I can drag the whole thing like that so I can now push it to my first position and I'm now push it to my first position and I'm now push it to my first position and I'm going to take it way back over here going to take it way back over here going to take it way back over here let's say up say up here and here and here and say this is going to be say this is going to be say this is going to be move it back a bit move it back a bit move it back a bit more okay going to more okay going to more okay going to say go there now one thing to watch out say go there now one thing to watch out say go there now one thing to watch out for is for is for is that I can actually push this all the that I can actually push this all the that I can actually push this all the way to my buffer okay way to my buffer okay way to my buffer okay but I have my magnetic limit here and but I have my magnetic limit here and but I have my magnetic limit here and also I have a soft limit that's been also I have a soft limit that's been also I have a soft limit that's been programmed in software and if I store programmed in software and if I store programmed in software and if I store this this this me touching this all the way to the me touching this all the way to the me touching this all the way to the buffer if I store this as my end buffer if I store this as my end buffer if I store this as my end position or close to it when I try and position or close to it when I try and position or close to it when I try and run it it won't allow me to run it run it it won't allow me to run it run it it won't allow me to run it because I'm beyond the limit of what's because I'm beyond the limit of what's because I'm beyond the limit of what's been set in the software and if it if I been set in the software and if it if I been set in the software and if it if I change that limit so I could run Beyond change that limit so I could run Beyond change that limit so I could run Beyond as it ran over the magnetic limit it as it ran over the magnetic limit it as it ran over the magnetic limit it would turn the motor off for safety so I would turn the motor off for safety so I would turn the motor off for safety so I just need to make sure that I don't go just need to make sure that I don't go just need to make sure that I don't go too far or else I won't be able to run too far or else I won't be able to run too far or else I won't be able to run that move okay so let's say this is my that move okay so let's say this is my that move okay so let's say this is my first position so I'm going to store first position so I'm going to store first position so I'm going to store this as my first point there you this as my first point there you this as my first point there you go store the go store the go store the button good all button good all button good all right all right so now I'm going to move right all right so now I'm going to move right all right so now I'm going to move it to my next point now it's important it to my next point now it's important it to my next point now it's important to remember to remember to remember that each one of these points it'll join that each one of these points it'll join that each one of these points it'll join with A continuous curve and I have to with A continuous curve and I have to with A continuous curve and I have to make sure that I don't go through make sure that I don't go through make sure that I don't go through something in between so for example I something in between so for example I something in between so for example I can't suddenly put a point that way over can't suddenly put a point that way over can't suddenly put a point that way over there because the camera will actually there because the camera will actually there because the camera will actually try and go through the arm as it does try and go through the arm as it does try and go through the arm as it does that so I'd kind of have to go make sure that so I'd kind of have to go make sure that so I'd kind of have to go make sure I don't plan to go through the I don't plan to go through the I don't plan to go through the arm okay so let's say this is my next arm okay so let's say this is my next arm okay so let's say this is my next point just there bring it a bit closer point just there bring it a bit closer point just there bring it a bit closer actually just like that so there I have my autofocus turned that so there I have my autofocus turned on at moment just to store some key on at moment just to store some key on at moment just to store some key frames some Focus key frames so I'm frames some Focus key frames so I'm frames some Focus key frames so I'm going to add a going to add a going to add a point and store that good all right I'm going to move it that good all right I'm going to move it to the next to the next to the next position position position oh nope that was there's some delays oh nope that was there's some delays oh nope that was there's some delays going on over going on over going on over there okay just store that as my there okay just store that as my there okay just store that as my position store store [Music] that not sure why it's being okay it's that not sure why it's being okay it's being a bit slow at the moment okay here being a bit slow at the moment okay here being a bit slow at the moment okay here we go and now round around not a pretty background but it around not a pretty background but it will do okay stall do okay stall that add that add that add Point store that that good so if we look here now just zoom good so if we look here now just zoom good so if we look here now just zoom out I'm using my mouse scroll button to out I'm using my mouse scroll button to out I'm using my mouse scroll button to zoom in and zoom in and zoom in and out these are my three out these are my three out these are my three points and this is what it will points and this is what it will points and this is what it will do okay now already you can see over do okay now already you can see over do okay now already you can see over here it's complaining it looks like I here it's complaining it looks like I here it's complaining it looks like I have exceeded my limit if have exceeded my limit if have exceeded my limit if I it because the base is turning red at I it because the base is turning red at I it because the base is turning red at that point okay uh I could have actually that point okay uh I could have actually that point okay uh I could have actually looked at my screen because it would looked at my screen because it would looked at my screen because it would have shown that to me on the screen as have shown that to me on the screen as have shown that to me on the screen as well but um what I can do here is I can well but um what I can do here is I can well but um what I can do here is I can click on here and it tells me here yes click on here and it tells me here yes click on here and it tells me here yes position is over the limit at frame zero position is over the limit at frame zero position is over the limit at frame zero this is what it tells me for the track this is what it tells me for the track this is what it tells me for the track so if there were other axes that had so if there were other axes that had so if there were other axes that had problems it would show me the other axes problems it would show me the other axes problems it would show me the other axes but here it basically says there's a but here it basically says there's a but here it basically says there's a problem with the position it's over the problem with the position it's over the problem with the position it's over the limit at frame limit at frame limit at frame zero and it won't allow me to run it zero and it won't allow me to run it zero and it won't allow me to run it because it's physically over um so the because it's physically over um so the because it's physically over um so the there are several things I can do I know there are several things I can do I know there are several things I can do I know I can actually go a little bit further I can actually go a little bit further I can actually go a little bit further uh uh so I could change my limit uh uh so I could change my limit uh uh so I could change my limit cuz the limits they VAR the soft limits cuz the limits they VAR the soft limits cuz the limits they VAR the soft limits that are entered in here they vary that are entered in here they vary that are entered in here they vary depending on how many rails you have and depending on how many rails you have and depending on how many rails you have and uh I maybe didn't type in the right uh I maybe didn't type in the right uh I maybe didn't type in the right number for how far I can go or or I can number for how far I can go or or I can number for how far I can go or or I can just redo that point just redo that point just redo that point again um so I could for example drag it again um so I could for example drag it again um so I could for example drag it to a nearby point so let's say there to a nearby point so let's say there to a nearby point so let's say there I'll take that back to zero ah now the reason my track isn't zero ah now the reason my track isn't moving is because moving is because moving is because uh once you come out of teach mode it uh once you come out of teach mode it uh once you come out of teach mode it doesn't automatically turn on the track doesn't automatically turn on the track doesn't automatically turn on the track uh that uh can vary depending on how uh that uh can vary depending on how uh that uh can vary depending on how it's set up but currently it's set up it it's set up but currently it's set up it it's set up but currently it's set up it doesn't turn back the track back on so doesn't turn back the track back on so doesn't turn back the track back on so I'm going to just turn it back on and I'm going to just turn it back on and I'm going to just turn it back on and then drag it back to that frame so ready then drag it back to that frame so ready then drag it back to that frame so ready to go to okay tells me that it's going to go to okay tells me that it's going to go to okay tells me that it's going to go to 35 CM on the rail and the to go to 35 CM on the rail and the to go to 35 CM on the rail and the maximum position I've allowed is 30 cm maximum position I've allowed is 30 cm maximum position I've allowed is 30 cm I'm going to say execute it anyway okay okay so it went to that okay okay so it went to that position uh this is this was not all the position uh this is this was not all the position uh this is this was not all the way to frame zero this is somewhere way to frame zero this is somewhere way to frame zero this is somewhere closer fur sorry somewhere uh further closer fur sorry somewhere uh further closer fur sorry somewhere uh further along the move but it's close to my along the move but it's close to my along the move but it's close to my first position I'm going to adjust my first position I'm going to adjust my first position I'm going to adjust my first position okay so I'm going to put first position okay so I'm going to put first position okay so I'm going to put it back in into free it back in into free it back in into free Drive um okay and release my Drive um okay and release my Drive um okay and release my track and just push the track back back track and just push the track back back track and just push the track back back in again and just bring this back to in again and just bring this back to in again and just bring this back to compensate for it so let's say it so let's say there okay uh so I'm going to restore there okay uh so I'm going to restore there okay uh so I'm going to restore this as my first key frame so I'm going this as my first key frame so I'm going this as my first key frame so I'm going to going to press this button here to to going to press this button here to to going to press this button here to store in my first key frame way stor store in my first key frame way stor store in my first key frame way stor okay and now if I have a look at okay and now if I have a look at okay and now if I have a look at that it's totally happy now one other that it's totally happy now one other that it's totally happy now one other thing to notice here which can cause an thing to notice here which can cause an thing to notice here which can cause an issue issue issue is these green dots over is these green dots over is these green dots over here they're my target that's what it's here they're my target that's what it's here they're my target that's what it's focused at okay and between over here focused at okay and between over here focused at okay and between over here it's a good distance away from them and it's a good distance away from them and it's a good distance away from them and at this key frame frame it's a good at this key frame frame it's a good at this key frame frame it's a good distance away from them but in between distance away from them but in between distance away from them but in between it's getting quite close and if my lens it's getting quite close and if my lens it's getting quite close and if my lens has some minimum Focus distance this has some minimum Focus distance this has some minimum Focus distance this could be too close and it would be Al it could be too close and it would be Al it could be too close and it would be Al it would also prevent me from running it would also prevent me from running it would also prevent me from running it the software will tell me that it's the software will tell me that it's the software will tell me that it's getting too close so that's just getting too close so that's just getting too close so that's just something to be aware of this might not something to be aware of this might not something to be aware of this might not be the move that I was trying to create be the move that I was trying to create be the move that I was trying to create and I might need to put another point in and I might need to put another point in and I might need to put another point in but it's just something to be aware of but it's just something to be aware of but it's just something to be aware of if you are programming your moves is if you are programming your moves is if you are programming your moves is that the focus will be adjusted in that the focus will be adjusted in that the focus will be adjusted in between key frames and in some cases between key frames and in some cases between key frames and in some cases when you're close to the object it can when you're close to the object it can when you're close to the object it can get too close so I'm going to run this get too close so I'm going to run this get too close so I'm going to run this so I'm at the start of the move at the so I'm at the start of the move at the so I'm at the start of the move at the moment uh so I'm going to go forward moment uh so I'm going to go forward moment uh so I'm going to go forward run okay ah it's telling me my track is run okay ah it's telling me my track is run okay ah it's telling me my track is not turned on so I'm going to turn my not turned on so I'm going to turn my not turned on so I'm going to turn my track back on and then forward track back on and then forward track back on and then forward run and then shoot so that's my move now I still have shoot so that's my move now I still have my focus set to focus follow sensor so my focus set to focus follow sensor so my focus set to focus follow sensor so it's using the autofocus on the head on it's using the autofocus on the head on it's using the autofocus on the head on the next to the camera to focus which is the next to the camera to focus which is the next to the camera to focus which is not good I should turn that not good I should turn that not good I should turn that off and let the software control the off and let the software control the off and let the software control the focus based on the actual Target focus based on the actual Target focus based on the actual Target distances okay so this is my Target and distances okay so this is my Target and distances okay so this is my Target and as it moves closer and further away as it moves closer and further away as it moves closer and further away Along this curve it'll automatically Along this curve it'll automatically Along this curve it'll automatically adjust my focus which will be much more adjust my focus which will be much more adjust my focus which will be much more precise than using the focus precise than using the focus precise than using the focus assist so now I'm going to do back run assist so now I'm going to do back run assist so now I'm going to do back run and shoot shoot okay now I can at this point adjust as I okay now I can at this point adjust as I okay now I can at this point adjust as I did before my move both in terms of the did before my move both in terms of the did before my move both in terms of the speed so at the moment I've got 100 speed so at the moment I've got 100 speed so at the moment I've got 100 frames between each key frames between each key frames between each key frame and I can uh reduce that or frame and I can uh reduce that or frame and I can uh reduce that or increase it or I can change my frames increase it or I can change my frames increase it or I can change my frames per second um or per second um or per second um or um I can drag it to Key frames and um I can drag it to Key frames and um I can drag it to Key frames and adjust the actual positions so let's say adjust the actual positions so let's say adjust the actual positions so let's say this start position which I entered by this start position which I entered by this start position which I entered by hand isn't actually very centered on my hand isn't actually very centered on my hand isn't actually very centered on my crosshairs uh one useful button here is crosshairs uh one useful button here is crosshairs uh one useful button here is that you can any of these screens you that you can any of these screens you that you can any of these screens you can make full size um just have to can make full size um just have to can make full size um just have to remember which button that is I think remember which button that is I think remember which button that is I think it's that one yes F10 uh makes it full it's that one yes F10 uh makes it full it's that one yes F10 uh makes it full size um so you can then effectively size um so you can then effectively size um so you can then effectively see that I'm not really in the center see that I'm not really in the center see that I'm not really in the center with my crosshairs so I might want to with my crosshairs so I might want to with my crosshairs so I might want to adjust that so I can go go up a adjust that so I can go go up a adjust that so I can go go up a bit and go that way a bit like that and bit and go that way a bit like that and bit and go that way a bit like that and then store this as my new start then store this as my new start then store this as my new start position okay and let's say I want to do position okay and let's say I want to do position okay and let's say I want to do the same with my next key frame uh I can the same with my next key frame uh I can the same with my next key frame uh I can either drag it there uh or I can either drag it there uh or I can either drag it there uh or I can uh push this one which goes to the next uh push this one which goes to the next uh push this one which goes to the next Waypoint off the current marker so it'll Waypoint off the current marker so it'll Waypoint off the current marker so it'll do a goto and when it does goto it goes in a goto and when it does goto it goes in a straight line or each axis moves straight line or each axis moves straight line or each axis moves individually rather than following the individually rather than following the individually rather than following the path that you've been that has been path that you've been that has been path that you've been that has been programmed so again I want to adjust programmed so again I want to adjust programmed so again I want to adjust this slightly just going to just adjust this slightly just going to just adjust this slightly just going to just adjust it here a little bit take it more in the it here a little bit take it more in the it here a little bit take it more in the center store this as my center store this as my center store this as my position way stored position way stored position way stored and now I'm going to the other thing you and now I'm going to the other thing you and now I'm going to the other thing you can do is you can do something called can do is you can do something called can do is you can do something called browsing so over here if I click on that browsing so over here if I click on that browsing so over here if I click on that I get this slider and now I'm in I get this slider and now I'm in I get this slider and now I'm in browsing mode and that means that as I browsing mode and that means that as I browsing mode and that means that as I drag this slider it moves along the path drag this slider it moves along the path drag this slider it moves along the path depending on how much I drag this slider depending on how much I drag this slider depending on how much I drag this slider so you can gra slowly move through the so you can gra slowly move through the so you can gra slowly move through the the move and see what it's going to do the move and see what it's going to do the move and see what it's going to do throughout that throughout that throughout that move okay all the way I'm going to take move okay all the way I'm going to take move okay all the way I'm going to take this all the way to the end okay so I'm reached the end that's end okay so I'm reached the end that's pretty good I like that I'm not going to pretty good I like that I'm not going to pretty good I like that I'm not going to change it and to come out of browsing change it and to come out of browsing change it and to come out of browsing you just press stop okay and I'm at the you just press stop okay and I'm at the you just press stop okay and I'm at the end of my move so I'm going to run it end of my move so I'm going to run it end of my move so I'm going to run it backwards shoot okay shoot okay if I want to save that I just again go if I want to save that I just again go if I want to save that I just again go to my save to my save to my save menu and say my second menu and say my second menu and say my second job okay and you'll see up here it says job okay and you'll see up here it says job okay and you'll see up here it says that it's created my second job and a that it's created my second job and a that it's created my second job and a really useful thing about this is that really useful thing about this is that really useful thing about this is that you can make incremental saves you'll you can make incremental saves you'll you can make incremental saves you'll see at the top here it tells me what my see at the top here it tells me what my see at the top here it tells me what my three Mouse buttons will do so three Mouse buttons will do so three Mouse buttons will do so um left Mouse button will read that job um left Mouse button will read that job um left Mouse button will read that job back in maybe I've made a change haven't back in maybe I've made a change haven't back in maybe I've made a change haven't saved it and I want to read the the same saved it and I want to read the the same saved it and I want to read the the same job without the change that I made uh so job without the change that I made uh so job without the change that I made uh so I can just read that back in I can I can just read that back in I can I can just read that back in I can overwrite this job or I can increment it overwrite this job or I can increment it overwrite this job or I can increment it so if I right click on it you'll see so if I right click on it you'll see so if I right click on it you'll see adds a 001 and it saved it as a new job adds a 001 and it saved it as a new job adds a 001 and it saved it as a new job with 001 at the end of my file name with 001 at the end of my file name with 001 at the end of my file name every time I press it every time I press it every time I press it it'll create save it newly with a new it'll create save it newly with a new it'll create save it newly with a new increment so it's very useful if you're increment so it's very useful if you're increment so it's very useful if you're making small incremental changes and you making small incremental changes and you making small incremental changes and you don't want to lose anything just to save don't want to lose anything just to save don't want to lose anything just to save that