库卡KUKA机器人资料mo2-motion-circ-en

CIRC-motionEndpointAuxiliary

pointStartpointTCPTheTCPismovedalonganarctotheendpoint01/20061mo2_motion_circ_en.pptCIRCmotionEndpointHere,theTCPorworkpiecereferencepointmovestotheendpointalonganarc.

Thepathisdefinedusingstart,auxiliaryandendpoints.

Theendpointofamotioninstructionservesasthestartpointforthesubsequentmotion.

StartpointAuxiliarypointEndpointStartpointAuxiliarypointEndpointTheorientationoftheTCPisnottakenintoconsiderationattheauxiliarypointandisnotrelevantfortheteachingofcoordinates.01/20062mo2_motion_circ_en.pptVelocityprofileTimetPathvelocityVP1P2VprogAccelerationDecelerationConstantThemotionprofilerefersto

theTCPoftheselectedtool01/20063mo2_motion_circ_en.pptProgrammingaCIRCmotionTypeofmotionAuxiliarypointnameVelocityMotionparametersEndpointnameExactpositioningApproximatepositioningON01/20064mo2_motion_circ_en.pptProgrammingaCIRCmotionToolToolselectionTool_Data[1]..[16],NullframeBaseWorkpiececoordinatesystemselectionBase_Data[1]..[32],NullframeExternalTCPRobotguidingtool:

FalseRobotguidingworkpiece:

True01/20065mo2_motion_circ_en.pptProgrammingaCIRCmotionAccelerationAccelerationusedforthemotion.Rangeofvalues:1...100%Approximationdistance*)Sizeofapproximatepositioningrangeforthemotion.Rangeofvalues:

0...300mm*)

Theparameter“Approximationdistance”isonlydisplayedifapproximatepositioninghasbeenselected(CONT).01/20066mo2_motion_circ_en.pptProgrammingaCIRCmotionOrientationcontrol-StandardDuringthepathmotion,theorientationofthetoolchangescontinuouslyfromthestartpositiontotheendposition.

Thisisachievedbyrotatingandpivotingthetooldirection.01/20067mo2_motion_circ_en.pptProgrammingaCIRCmotionOrientationcontrol-WristPTPDuringthepathmotion,theorientationofthetoolchangescontinuouslyfromthestartpositiontotheendposition.

Thisisdonebylineartransformation(axis-specificmotion)ofthewristaxisangles.

Theproblemofthewristsingularitycanbeavoidedusingthisoptionasthereisnoorientationcontrolbyrotatingandpivotingthetooldirection.

01/20068mo2_motion_circ_en.pptProgrammingaCIRCmotionOrientationcontrol-ConstantTheorientationremainsconstantduringtheCPmotion.

Theprogrammedorientationisdisregardedfortheendpointandthatofthestartpointisused.01/20069mo2_motion_circ_en.pptThe360°fullcircleThefullcircleshouldbemadeupofatleasttwosegments.P1P2P3P4P5P1INIPTPHOME…LINP1LINP2CI