ABB MultiMove, Руководство по применению

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3 Configuration
3.2.2. Motion topic
3HAC021272-001 Revision: H 28
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3.2.2. Motion topic
Drive Module User Data
If a drive module should be disconnected without disturbing robots and additional axes
connected to other drive modules in the robot system, then use the Drive Module Disconnect
function.
This parameter belongs to the type Drive Module User Data in the topic Motion.
Mechanical Unit
No parameters of type Mechanical Unit can be edited for a robot. They can only be edited for
additional axes.
These parameters belong to the type Mechanical Unit in the topic Motion:
Motion Planner
A motion planner calculates the movements of a mechanical unit group. When several tasks
are in synchronized movement mode they use the same motion planner (the first of the
involved motion planners), see pictures in the following examples.
At installation a Motion Planner is set up for each robot. The Motion Planner is configured
to optimize the motion for that specific robot. Do not change connection between robot and
Motion Planner.
These parameters belong to the type Motion Planner in the topic Motion:
Parameter Description
Allow Drive Module
Disconnect Set Allow Drive Module Disconnect to TRUE to disconnect the
drive module.
Parameter Description
Name The name of the mechanical unit.
Allow move of user frame Indicates if the mechanical unit should be allowed to move user
frames.
Activate at Start Up Indicates if the mechanical unit should be active when the
controller starts up.
In a single robot system, the robot is always active. In a
MultiMove system, any mechanical unit (including robots) can be
inactive at start up and be activated later.
Deactivation Forbidden Indicates if it should be possible to deactivate the mechanical
unit.
In a single robot system it is not possible to deactivate a robot. In
a MultiMove system, one robot can be deactivated while another
is still active.
Parameter Description
Name The name of the motion planner.
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