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Documente Cultură
CIRC (circular)
Conducerea sculei de-a
lungul unei traiectorii
circulare cu o vitez de
deplasare definit.
P2
P2
P2
P1
P1
P1
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Cursor al liniei de
program
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P1
TCP
TCP
TCP
P2
Cea mai
rapid deplasare
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SYNCHRO - PTP
P1
P2
Accelerare
Constant
Timp t
Decelerare
Faza de
decelerare
Faza de v
constant
Viteza
scade
din
cauza depirii valorii
admise a momentului
Faza de micare cu
vitez constant
Faza de
accelerare
Vmax
t
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Vitez
Tip de micare
programat
Parametrii de micare
Scul: TOOL_DATA[1]
alegerea sistemului de coordonate
ataat sculei
TOOL_DATA[1][16], sau Nullframe
TCP extern:
Dac robotul manipuleaz scula: False
Dac robotul manipuleaz piesa: True
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*)
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Status si Turn
TURN
ENDDAT
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Status i Turn
Status = 1
Turn = 46
Status = 2
Turn = 43
Status = 6
Turn = 59
Status = 4
Turn = 63
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Status i Turn
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Exerciii practice
Program n-aer
(micare prin
comand PTP)
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P3
P1
TCP
P2
Punctul TCP va fi condus de-a lungul celei mai scurte traiectorii (linie)
la punctul int.
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Profil de vitez
Viteza de deplasare
pe traiectorie V
V prog
P1
P2
Accelerare
Constant
Timp t
Decelerare
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Vitez
Tip de micare
Parametrii de micare
Scul:
Alegerea sculei
Tool_Data[1].[16], Nullframe
Base
Alegerea sistemului de
coordonate ataat piesei
Base_Data[1]..[32], Nullframe
External TCP
Dac robotul manipuleaz scula: False
Dac robotul manipuleaz piesa: True
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Accelerare
Valoarea acceleraiei care va fi
utilizat la comanda micrii:
Domeniu: 1100%
Distana de racordare*):
(Approximation distance*) )
Mrimea razei de racordare
pentru micare
Domeniu de valori 0..300mm
*)
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Poziie de start
Poziie int
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Poziie de start
Poziie int
n timpul micrii pe traiectorie, orientarea sculei se va
modifica continuu din poziia start pn n poziia int.
Aceasta se realizeaz printr-o transformare liniar (n
coordonatele ataate axelor robotului) a unghiurilor
mecanismului de orientare. Problema constrngerilor
geometrice ale structurii mecanice a robotului
(problema singularitilor) se poate rezolva cu aceast
opiune, pentru c nu se realizeaz controlul orientrii
prin micarea de pronaie-supinaie i de flexieextensie pe direcia de strivire a sculei.
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Poziie de start
Poziie int
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Poziie int
Poziia de start
TCP
Poziie intermediar
Poziie intermediar
Poziie int
Poziia de start
Poziie int
Poziie int
Poziia de start
Poziie intermediar
Profilul de vitez
Viteza de deplasare
pe traiectorie V
V prog
P1
P2
Accelerare
Constant
Decelerare
Timp t
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Vitez
Tip de micare
Parametrii de micare
Scul
Selectarea sculei
Tool_Data[1]..[16], Nullframe
Baz
Selectarea sistemului de
coordonate ataat piesei
Base_Data[1]..[32], Nullframe
TCP Extern
Robotul manipuleaz scula: False
Robotul manipuleaz piesa: True
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Acceleratie
Acceleraia micrii.
Domeniu de valori: 1...100%
Approximation distance*)
Mrimea domeniului de
poziionare aproximativ pentru
micare.
Domeniu de valori: 0...300 mm
*)
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P1
P1
INI
PTP HOME
LIN P1
LIN P2
CIRC P3 P4 ; P3 is AUX; P4 is END
CIRC P5 P2 ; P5 is AUX; P2 is END
LIN P1
...
PTP HOME
END
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P3
X
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Geschwindigkeit
P1
Vprog
P2
P3
P4
ohne berschleifen
Zeit (sec)
Geschwindigkeit
Vprog
10
15
20
25
30
mit berschleifen
Zeit (sec)
5
P1
10
P2
15
P3
20
25
30
P4
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Micri PTP
programate cu
racordare
P2 este punctul
racordat
(aproximat)
P2
P1
P3
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Contur A
P2
P1
Contur B
P3
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Micare pe traiectorie
liniar cu poziionare
aproximativ (racordare)
P2 este punctul
de racordare
P2
P3
P1
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P2
P3
P1
Approximation distance in mm
Micri pe traiectorie
circular cu poziionare
aproximativ
P3 este punctul
cu poziionare
aproximativ
P4
P2 (AUX)
P3
(END)
P1
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Exerciii practice
Micarea pe traiectorie
continu, poziionare
aproximativ (tierea cu jet
de ap sub presiune)
Offset-ul mesei
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