Hanwha HCR-5, Руководство пользователя

Страница: 126 / 206

Chapter 9 Programming
126

Arc
: A tool moves along the circumscribed circle whose center is the circumcenter of a
triangle formed by the starting point(S) and the two points (W
1
, W
2
).
- Speed
: 0.1 mm/s ~ 1000 mm/s
-
Accel.
(Acceleration): 0.1 mm/s 2 ~ 2500 mm/s 2
Note
The TCP coordinates of the last position held by the robot are the
coordinates of the starting point.

Circle
: The tool moves along the circle formed by the start point (S) and the two
waypoints (W
1
, W
2
).
-
Speed
: 0.1 mm/s ~ 1000 mm/s
- Accel.
(Acceleration): 0.1 mm/s 2 ~ 2500 mm/s 2
-
Rotation Count
: 1 ~ 50 (Default 1)
Note
The starting point is the TCP coordinates of the robot’s last posture.