ABB IRC5 with FlexPendant, Руководство по эксплуатации

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About motion modes and robots
The selected motion mode and/or coordinate system determines the way the robot
moves.
In linear motion mode the tool center point moves along straight lines in space, in
a "move from point A to point B" fashion. The tool center point moves in the
direction of the selected coordinate system’s axes.
Axis-by-axis mode moves one robot axis at a time. It is then hard to predict how
the tool center point moves.
About motion modes and additional axes
Additional axes can only be jogged axis-by-axis. An additional axis can either be
designed for some kind of linear motion or for rotational (angular) motion. Linear
motion is used in conveyers, rotational motion in many kinds of workpiece handlers.
Additional axes are not affected by the selected coordinate system.
About coordinate systems
Positioning a pin in a hole with a gripper tool can be performed very easily in the
tool coordinate system, if one of the coordinates in that system is parallel to the
hole. Performing the same task in the base coordinate system may require jogging
in both x, y, and z coordinates, making precision much more difficult.
To select the proper coordinate systems to jog in will make jogging easier but there
are no simple or single answers to which coordinate system to choose.
A certain coordinate system will make it possible to move the tool center point to
the target position with fewer joystick moves than another.
Conditions such as space limitations, obstacles or the physical size of a work
object or tool will also guide you to the proper judgement.
Read more about coordinate systems in section Coordinate systems for jogging
on page 123 .
122 Operating manual - IRC5 with FlexPendant
3HAC050941-001 Revision: G
© Copyright 2018 ABB. All rights reserved.
4 Jogging
4.1 Introduction to jogging
Continued