Abicor Binzel RTM ABIx EasyTeach, Оригинальная инструкция по эксплуатации

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5 Configuring the software RTM ABIx EasyTeach
5 Configuring the software
The “easyTeach” software extension is automatically installed with the URCap from version 4.0.0.
5.1 Setting up the tool center point (TCP)
1
Set up the TCP per the “Installing and using URCap” instruction leaflet (BEI.0361.0) and the Universal
Robots Cobots instructions.
 “Installing and using URCap” instruction leaflet
2
Set the Rx, Ry, Rz angle to <0> in order to ensure the correct function of the multifunction flange.
3
Set up/apply/create two TCPs if the TCP coordinate system should be worked with as well: one with the
correctly assigned Rx, Ry, Rz; and one for use in conjunction with “easyTeach”.
5.2 Activating the multifunction flange
1
Select menu <Installation> → <URCaps> → <easyTeach>.
2
Select the created TCP. This is used for all tracks created with easyTeach.
3
Check the <Enable easyTeach Hardware> checkbox.
The inputs on the multifunction flange are activated and assigned the following functions:
Fig. 3 Example for the configuration of two TCPs
Fig. 4
Selecting TCP
Analog input 3, short Welding on/off
Analog input 3, long Weld for as long as the button is pressed
Digital input 1, short Create position
Digital input 1, long
Create circle movement
Digital input 0 Set Freedrive/robot free