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Cap+7 1
Cap+7 1
Se introduc n controler
coordonatele a 4 puncte (de
exemplu din CAD) n raport cu
sistemul de coordonate ataat
bazei.
Se deplaseaz TCP-ul sculei de
referin n cele 4 puncte.
Controlerul robotului va calcula
noul sistem de coordonate ataat
bazei.
Punct 1
Punct 2
Punct 4 +ZW ORLD
Punct 3
P2 P2
P2
P1
P1
P1
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I 08 .01.2004 I Col lege I AC I 1
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Programarea micrilor robotului
P1
P2
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I 08 .01.2004 I Col lege I AC I 1
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SYNCHRO - PTP
axa 3 - a xa adaptat
axa 6 - a xa adaptat
P1 P2
Timp t
Accelerare Constant Decelerare
KUK A Roboter GmbH , Hery Park 3000 , D-86368 Gers thofen , Tel .: +49 (0) 8 21 /45 33-1906, Fax : +49 (0) 8 21/45 33-2340, ht tp: //www.kuka-roboter.de
I 08 .01.2004 I Col lege I AC I 2
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KUKA Roboter GmbH 2006 / 01.00 BP . KRC2 V5 en R02 Pag. 59 din 156
Programarea micrilor robotului
Vm ax
din
cauza depirii valorii
accelerare
decelerare
admise a momentului
Faza de micare cu
Faza de v
constant
Faza de
Faza de
vitez constant
Viteza scade
t
KUK A Roboter GmbH , Hery Park 3000 , D-86368 Gers thofen , Tel .: +49 (0) 8 21 /45 33-1906, Fax : +49 (0) 8 21/45 33-2340, ht tp: //www.kuka-roboter.de
I 08 .01.2004 I Col lege I AC I 3
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Vitez
Tip de micare
programat
Parametrii de micare
Poziionarea
aproximativ a
traiectoriei ON
Denumirea
punctului
KUK A Roboter GmbH , Hery Park 3000 , D-86368 Gers thofen , Tel .: +49 (0) 8 21 /45 33-1906, Fax : +49 (0) 8 21/45 33-2340, ht tp: //www.kuka-roboter.de
I 08 .01.2004 I Col lege I AC I 4
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Pag. 60 din 156 KUKA Roboter GmbH 2006 / 01.00 BP . KRC2 V5 en R02
Programarea micrilor robotului
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
KUK A Roboter GmbH , Hery Park 3000 , D-86368 Gers thofen , Tel .: +49 (0) 8 21 /45 33-1906, Fax : +49 (0) 8 21/45 33-2340, ht tp: //www.kuka-roboter.de
I 08 .01.2004 I Col lege I AC I 5
Copyright by KUK A Roboter GmbH College
KUKA Roboter GmbH, Hery Park 3000, D-86368 Gersthofen, Tel.: +49 (0) 8 21/45 33-1906, Fax: +49 (0) 8 21/45 33-2340, http://www.kuka-roboter.de
I 12.10.2007 I College I AC I 6
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KUKA Roboter GmbH 2006 / 01.00 BP . KRC2 V5 en R02 Pag. 61 din 156
Programarea micrilor robotului
Cursor al liniei de
program
KUK A Roboter GmbH , Hery Park 3000 , D-86368 Gers thofen , Tel .: +49 (0) 8 21 /45 33-1906, Fax : +49 (0) 8 21/45 33-2340, ht tp: //www.kuka-roboter.de
I 08 .01.2004 I Col lege I AC I 2
Copyright by KUK A Roboter GmbH College
KUK A Roboter GmbH , Hery Park 3000 , D-86368 Gers thofen , Tel .: +49 (0) 8 21 /45 33-1906, Fax : +49 (0) 8 21/45 33-2340, ht tp: //www.kuka-roboter.de
I 08 .01.2004 I Col lege I AC I 3
Copyright by KUK A Roboter GmbH College
Pag. 62 din 156 KUKA Roboter GmbH 2006 / 01.00 BP . KRC2 V5 en R02
Programarea micrilor robotului
KUKA Roboter GmbH, Hery Park 3000, D-86368 Gersthofen, Tel.: +49 (0) 8 21/45 33-1906, Fax: +49 (0) 8 21/45 33-2340, http://www.kuka-roboter.de
I 12.10.2007 I College I AC I 4
Copyright by KUKA Roboter GmbH College
Status si Turn
DEFDAT
DEFDATMAIN_PROGRAM
MAIN_PROGRAM(())
DECL
DECLPOSPOSXPOINT1={X
XPOINT1={X900,
900,YY0,
0,ZZ800,
800,AA0,
0,BB0,
0,CC0,
0,SS6,
6,TT27}
27}
DECL FDAT FPOINT1...
DECL FDAT FPOINT1...
......
STATUS TURN
ENDDAT
ENDDAT
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KUKA Roboter GmbH 2006 / 01.00 BP . KRC2 V5 en R02 Pag. 63 din 156
Programarea micrilor robotului
Status i Turn
Status = 1 Status = 2
Turn = 46 Turn = 43
Status = 6 Status = 4
Turn = 59 Turn = 63
KUK A Roboter GmbH , Hery Park 3000 , D-86368 Gers thofen , Tel .: +49 (0) 8 21 /45 33-1906, Fax : +49 (0) 8 21/45 33-2340, ht tp: //www.kuka-roboter.de
I 08 .01.2004 I Col lege I AC I 8
Copyright by KUK A Roboter GmbH College
Status i Turn
KUK A Roboter GmbH , Hery Park 3000 , D-86368 Gers thofen , Tel .: +49 (0) 8 21 /45 33-1906, Fax : +49 (0) 8 21/45 33-2340, ht tp: //www.kuka-roboter.de
I 08 .01.2004 I Col lege I AC I 9
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Pag. 64 din 156 KUKA Roboter GmbH 2006 / 01.00 BP . KRC2 V5 en R02