ABB IRB 14000, Руководство по эксплуатации

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3.2.2 Motion modes
Standard motion modes
A traditional robot, with four to six axes, has three different motion modes modes:
axis-by-axis , linear , and reorientation mode.
• Axis-by-axis mode moves one robot axis at a time. The tool center point, and
the orientation of the tool, is not monitored. Axis-by-axis mode is used to
manually position the robot before switching over to linear mode.
• In linear motion mode , the tool center point moves along a straight line in
space, in a “move from point A to point B” fashion. The tool center point is
monitored and moves in the direction of the selected coordinate system’s
axes. The orientation of the tool is fixed throughout the motion.
• In reorientation mode , the tool center point is fixed in space and the
orientation of the tool is changed. The tool center point is rotated around the
direction of the selected coordinate system’s axes.
The arm mode
The IRB 14000 robot, with seven axes, has one additional motion mode, the arm
mode . All of the other jogging settings are the same as for other robots.
• In arm mode , both the tool center point and the orientation of the tool is fixed
in space and only the angle of the arm is changed. The tool center point is
neither rotated nor moved. See
Jogging in arm mode on page 33 .
For more information on robot configuration and how the arm angle is calculated,
see the data type
confdata
in Technical reference manual - RAPID Instructions,
Functions and Data types .
Jogging in arm mode
In the pictures below, the robot is jogged in arm mode. Note that both the tool
center point and the orientation of the tool are fixed in space and only the angle
of the arm is changed.
This is useful when programming to avoid singularity, to find the most natural way
the robot can reach a given target, and also how to be able to proceed to the next
target.
3.
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2.
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1.
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Operating manual - IRB 14000 33
3HAC052986-001 Revision: E
© Copyright 2015-2018 ABB. All rights reserved.
3 Using the IRB 14000
3.2.2 Motion modes