课件参考培训.pptVIP

01/2006 1 mo2_motion_circ_en.ppt CIRC - motion End point Auxiliary point Start point TCP The TCP is moved along an arc to the end point 01/2006 2 mo2_motion_circ_en.ppt CIRC motion End point Here, the TCP or workpiece reference point moves to the end point along an arc. The path is defined using start, auxiliary and end points. The end point of a motion instruction serves as the start point for the subsequent motion. Start point Auxiliary point End point Start point Auxiliary point End point The orientation of the TCP is not taken into consideration at the auxiliary point and is not relevant for the teaching of coordinates. 01/2006 3 mo2_motion_circ_en.ppt Velocity profile Time t Path velocity V P1 P2 V prog Acceleration Deceleration Constant The motion profile refers to the TCP of the selected tool 01/2006 4 mo2_motion_circ_en.ppt Programming a CIRC motion Type of motion Auxiliary point name Velocity Motion parameters End point name Exact positioning Approximate positioning ON 01/2006 5 mo2_motion_circ_en.ppt Programming a CIRC motion Tool Tool selection Tool_Data[1]..[16], Nullframe Base Workpiece coordinate system selection Base_Data[1]..[32], Nullframe External TCP Robot guiding tool: False Robot guiding workpiece: True 01/2006 6 mo2_motion_circ_en.ppt Programming a CIRC motion Acceleration Acceleration used for the motion. Range of values: 1...100% Approximation distance*) Size of approximate positioning range for the motion. Range of values: 0...300 mm *) The parameter “Approximation distance” is only displayed if approximate positioning has been selected (CONT). 01/2006 7 mo2_motion_circ_en.ppt Programming a CIRC motion Orientation control - Standard During the path motion, the orientation of the tool changes continuously from the start position to the end position. This is achieved by rotating and pivoting the tool direction. 01/2006 8 mo2_motion_circ_en.ppt Programming a CIRC motion Orientation control - Wrist PTP During the path motion, the orientation