Universal Robots UR3/CB3, Оригинальное руководство пользователя

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14.25 Command: Pattern
14.25 Command: Pattern
The Pattern command can be used to cycle through positions in the robot program. The Pattern
command corresponds to one position at each execution.
A pattern can be given as one of four types. The first three, Line , Square or Box can be used
for positions in a regular pattern. The regular patterns are defined by a number of characteristic
points, where the points define the edges of the pattern. For
Line
this is the two end points, for
Square this is three of the four corner points, where as for Box this is four of the eight corner
points. The programmer enters the number of positions along each of the edges of the pattern. The
robot controller then calculates the individual pattern positions by proportionally adding the edge
vectors together.
If the positions to be traversed do not fall in a regular pattern, the
List
option can be chosen, where
a list of all the positions is provided by the programmer. This way any kind of arrangement of the
positions can be realized.
Defining the Pattern
When the Box pattern is selected, the screen changes to what is shown below.
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