ROBOTIQ CNC Machine Tending Kit, Инструкция по эксплуатации, Страница: 57 / 144

Robotiq CN C M achine Tending Kit Instruction M anual
Fig. 5-6: Add Orient at ion program tree.
The Orient at ion node can be set up in the same way as a Translat ion node. However, the Orient at ion node contains two Touch
nodes. Configure each node as described in section Add translation. The two offset values will be used to calculate a rotation angle.
5.2. Apply Contact Offset
Insert an Apply Contact Offset node, then select a feature to offset. This feature must be the same as the one used by the Find Contact
Offset node your previously executed.
l
When you select a feature point to offset and a green checkmark is shown, this means that moves will be executed according to the
offset value of the Apply Contact Offset node.
l
Create your robot program with children nodes inserted under the Apply Contact Offset node.
Tip
Nodes must be inserted under the Apply Contact Offset node to be affected by the offset value.
5.3. Multipoint Path
The Multipoint Path node is an advanced version of the Path node, combining complex trajectory recording and point-to-point
teaching, with the option to define each segment as a line or as a curve.
57