ABB IRC5 with FlexPendant, Руководство по эксплуатации

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6.4.3 Tuning positions with HotEdit
Overview
HotEdit is used to tune programmed positions. This can be done in all operating
modes and even while the program is running. Both coordinates and orientation
can be tuned.
HotEdit can only be used for named positions of the type robtarget (see limitations
below).
The functions available in HotEdit may be restricted by the user authorization
system, UAS.
The HotEdit menu is described in the section HotEdit menu on page 54 .
Applying tuned positions
Tuning values are used directly by an executing program when you tap Apply . If
tuning is done close to the program or motion pointer it may be hard to predict
exactly when it will take effect. It is therefore important that you know where in the
program the robot is if applying offset values while the program is running.
However, the new values are not stored in the baseline until you use a Commit
command.
How to tune positions
This is how you tune programmed positions using HotEdit:
Action
In the Programmed targets window, select the positions to be tuned and add them
to Selected targets by tapping the arrow.
1
Tap Tune Targets and select tuning mode (linear, reorient, or external axes) and then
coordinate system (tool or work object).
2
Tap + and - to specify the exact tuning of the position(s) in x, y and z direction. Select
Increment to define the step size of these buttons.
3
To activate the new values, tap APPLY . The offset will be used directly if the program
is running.
4
If you are satisfied with the result and want the tuned positions to become part of the
baseline, tap
Baseline and then Commit Selection .
5
If, however, the selected targets need further tuning, you can tap Baseline and then
Restore Selection and start all over again, or you can simply continue tuning until
you are satisfied.
6
Working with selections
A selection of positions to be tuned later can be saved on the controller mass
memory unit. If your system uses UAS, this may be the only way to select positions
for tuning.
The commands for working with selections are located in the File menu:
Make sure that the window Selected targets shows nothing but the
positions to be saved. Tap File and Save Selection As . Enter the
name and optionally a description of the file, then tap OK .
Save Selection As
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268 Operating manual - IRC5 with FlexPendant
3HAC050941-001 Revision: G
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6.4.3 Tuning positions with HotEdit