123
Remark: As in the above program, move to JR[0] point in sequence (without setting offset).
When the last line is executed, it will move to a position for re-tool position compensation, and the
robot will move directly from JR[0] to (JR[ 1]+LR[2]) position.
Note:
①
Motion instruction J JR[1] TOOL_OFFSET, if TOOL_OFFSET
CONDITION instruction is not defined before, it will report that
OFFSET value is not set during operation;
②
When J JR[1] TOOL_OFFSET or J JR[1] TOOL_OFFSET LR[2] is
executed, if the TOOL_OFFSET offset JR[2] point information is
modified midway before the instruction is executed, the offset will also
change synchronously.
③
The coordinate expression of the compensation point position can be
inconsistent with the target point (for example, the target point uses the
joint coordinate system, and the compensation point position uses the
Cartesian coordinate system).
④
When the arc command is compensated, only the end point is
compensated, and the arc transition point is not compensated.
⑤
Only
LR variable can be used for tool compensation.
Steps
1. Select the previous line of the instruction line to be inserted or.
2. Select instruction
→
motion instruction
→
additional assignment to enter the
additional instruction editing interface.
3. Check the tool compensation check box to set the position compensation options.
4. Click the "OK" button to set the motion instruction point, and then click the "OK"
button in the operation bar to complete the addition of the tool position compensation
instruction.
Examples of direct tool compensation instructions:
J JR[0]
‘
Correctly move to JR[0] coordinate position.
J JR[1] ,TOOL_OFFSET LR[2]
‘
Move to (JR[1]+LR[2]) position.
