庫卡KUKA機器人資料mo2-motion-ptp-en

PTP-motionShortestdistanceFastestpathTCPP1P201/20061mo2_motion_ptp_en.pptSYNCHRO-PTPLeadingaxisisthenamegiventotheaxisthattakeslongesttoreachthe

endpoint;thevelocityspecifiedintheinlineformisdisregarded.

VmaxTimetIndividualaxisvelocityvAccelerationDecelerationConstante.g.axis2:leadingaxise.g.axis3:adaptede.g.axis6:adaptedP1P201/20062mo2_motion_ptp_en.pptPTPmotion–highermotionprofileAccelerationphaseReductioninvelocitybecausetorquetoohighVtVmaxDecelerationphaseConstantphaseConstantphaseThehighermotionprofileisusedbydefault,i.e.thepermissibletorquesareoptimallyexploitedateverypointonthepath;thevelocityisalwaysadaptedtopreventthetorquesfrombeingexceeded.01/20063mo2_motion_ptp_en.pptProgrammingaPTPmotionTypeofmotionPointnameVelocityMotionparametersApproximatepositioningONExactpositioning01/20064mo2_motion_ptp_en.pptProgrammingaPTPmotionToolToolselectionTool_Data[1]..[16],NullframeBaseWorkpiececoordinatesystemselectionBase_Data[1]..[32],NullframeExternalTCPRobotguidingtool:

FalseRobotguidingworkpiece:

True01/20065mo2_motion_ptp_en.pptProgrammingaPTPmotionAccelerationAccelerationusedforthemotion.Rangeofvalues:1..100%Approximationdistance*)Sizeofapproximatepositioningrangeforthemotion.Rangeofvalues:0..100%*) Theparameter“Approximationdistance”isdisplayedifapproximatepositioninghasbeenselected(CONT).01/20066mo2_motion_ptp_en.pptStatusandTurnTheentries“S”and“T”servetoselectaspecific,unambiguouslydefinedrobotpositionwhereseveraldifferentaxispositionsarepossibleforthesamepointinspace.DEFDATMAIN_PROGRAM()DECLPOSXPOINT1={X900,Y0,Z800,A0,B0,C0,S6,T27}DECLFDATFPOINT1......ENDDATThespecificationofStatusandTurnisonlyevaluatedforPTPmotions.

Forthisreason,thefirstmotioninaprogrammustbeaPTPmotion.STATUSTURN01/20067mo2_motion_ptp_en.pptStatusandTurnStatus=1Turn=46Status=2Turn=43Status=6