Wuhan Huazhong Numerical Control HSpad-201 Скачать руководство пользователя

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Figure 14-2-4 Run configuration-program configuration

14.3 Variable list

Operation procedure

1. Select the main menu display→variable list. A list of related variables will be displayed.

2. Click the list of different variables, and the related variables will be displayed.

3. The function buttons on the right can be used to turn pages, modify and save registers.

4. All modified operations must be saved in the file after clicking Save

Description

Variable list is used to have different types of register data

：

Tool coordinate system variable

：

Base coordinate system variable

：

Value register

：

Joint type coordinate register

：

Cartesian coordinate register

After setting the register, you need to click [Save] to save, and the unsaved

will be lost after power off and restart.

Содержание HSpad-201

Страница 1: ...HSpad 201 Instruction manual HSC3_V1 6 5 Note Programming manual of the teach pendant Hspad 201...

Страница 2: ...describe various events related to the operation of the teach pendant Due to space limitations and product development confidentiality it is impossible to give a detailed description of all events tha...

Страница 3: ...1 3 3 1 Teach and control the robot by manual 11 3 3 2 Production movement 11 4 Hspad Teach Pendant Type 12 4 1 Front 12 4 2 Back 13 4 3 HSpad Operation interface 14 4 3 1 Status Bar 16 4 3 2 Main men...

Страница 4: ...kup and restore settings 50 13 4 File lock and unlock 51 13 5 Register file management 53 13 6 File folder deletion 54 13 7 Select or open program 54 13 8 Loading and canceling loading programs 54 13...

Страница 5: ...80 19 1 2 Coordinate type 81 19 1 3 The main program calls other programs 81 19 2 Overview of programming instructions 82 19 2 1 Movement instruction 84 19 3 Conditional instruction 90 19 3 1 IF GOTO...

Страница 6: ...gnment instruction 126 19 12 1 Register instruction 127 19 12 2 Coordinate system command 129 19 12 3 Global variable instruction 130 19 12 4 Trim command 134 19 12 5 Timing instruction 135 19 13 Manu...

Страница 7: ...ify text errors picture serial numbers and other issues 2020 02 13 V1 6 3 Update Added collaboration function P point online editing function arc A command modified CNT_TYPE small line segment descrip...

Страница 8: ...1 6 5 Update Update logic operators supplement import and export user PLC UTUF modification instructions timeout instructions output pulse instructions multi threaded operation and typesetting 2020 11...

Страница 9: ...s Error message indicating the error that occurred 1 3 Terminology TCP Tool Center Point 2 Introduction to Type Control System The HSR industrial robot type control system is a set of control system i...

Страница 10: ...Please operate the robot where you can ensure your safety 2 Please make sure that the state of the robot is stable and the base is stable 3 Please operate the robot in accordance with compliant operat...

Страница 11: ...nd in advance 3 It is necessary to consider in advance that the robot s movement route is not disturbed 4 The area around the robot must be clean and free of oil water and impurities 3 3 2 Production...

Страница 12: ...the controller 2 Emergency stop button emergency stop Used to stop the robot in dangerous situations 3 Jog Key Used to manually move the robot 4 Key for setting the program adjustment amount Automatic...

Страница 13: ...Back Pic 4 2 Hspad Back Label Description 1 Three stage safety switch The safety switch has 3 positions Not pressed Middle position Fully press In the operation mode manual T1 or manual T2 the confir...

Страница 14: ...14 4 U disk USB socket The USB interface is used for archive restore operations 4 3 HSpad Operation interface Pic 4 3 Operation interface Label Description 1 Information prompt counter...

Страница 15: ...information Alarm Confirmation key to confirm all error information button can display the detailed information of the current information 4 Coordinate system status Touch this icon to display all coo...

Страница 16: ...ing the icon and you can change the settings in the opened window Pic 4 4 Status bar Label Description 1 Menu The function is the same as that of the menu button 2 Robot name Display the current robot...

Страница 17: ...Touch in manual T1 or manual T2 mode to open the window click the corresponding option to set the incremental mode Persistence continuous exercise Non continuous Move according to the set incremental...

Страница 18: ...iguration log in to the super user switch to super user and above authority 2 In the menu bar Configuration Controller Configuration select Robot Communication Configuration in the submenu 3 Save oper...

Страница 19: ...HSpad system software different users have different permissions There are the following user groups Normal Operator user group this user group is the default user group Super Super authority user gro...

Страница 20: ...per Debug Final File management Backup and restore settings You can only choose to set as the U disk root directory def ault path not edit the custom path Lock password setting Get register file View...

Страница 21: ...on View View View Robot parameters View View View Running configuration View View Encoding decod ing configuration View View Zone configuration View Time out settings Authorized View Display The input...

Страница 22: ...stem language settings Restart teach pendant Clean up the system Shut down the system Restart the system System upgrade View View Import and export user PLC Import and export calibration parameters In...

Страница 23: ...in the default user group you cannot use the standard If you want to switch to another user group select the user group you want Press Sign in 3 Super users Debug users and Final users need to log in...

Страница 24: ...ess package shortcut key to open the process package interface No configuration turn off the backup button function Steps 1 Under Super authority select Configuration Teach Pendant Configuration Alter...

Страница 25: ...are press the corresponding configuration auxiliary button to quickly open the process package interface shortcut key to open the process package Non debuggers should not set the configuration of the...

Страница 26: ...ime and the load will be switched by pressing the load option below 5 Click the Edit button The load can be switched to the robot separately and the robot speed is different for different loads 6 Sele...

Страница 27: ...icon on the right to switch from internal axis to external axis J1 J6 will become E1 E3 After switching when the external axis is inching the external axis can be related movement Steps 1 The axis ic...

Страница 28: ...remaining DO are all 0 the decoding function is to map the input of IO to R Register external input corresponding signal the controller will decode this signal to R register for example DI 1 DI 4 is m...

Страница 29: ...calibration process For this the robot must be placed in a defined mechanical position that is the zero point calibration position Then the encoder return value of each axis is stored The calibration...

Страница 30: ...ion properly Note Zero point calibration operations require Final user rights Internal axis calibration operation steps 1 Click Menu Put into Operation Adjustment Calibration 2 Move the robot to the m...

Страница 31: ...alibration 2 Click each option in the list the input box will pop up enter the correct data the same data as the calibration time and click OK 3 After the data input of each axis is completed click th...

Страница 32: ...must be less than the value of the positive limit When setting the robot into operation the limit switch must be enabled and the corresponding axis data must be set otherwise it may cause loss The li...

Страница 33: ...enable limit 3 After setting the software limit information of all axes click the Save button to make the setting effective immediately Pic 5 19 Current limit setting 5 10 Area configuration Descript...

Страница 34: ...to increase safety 4 Each area is configured with an external output signal digital signal area signal configuration see running configuration used to indicate whether the robot position is in out of...

Страница 35: ...Move Mode In jog mode there are two kinds of move modes incremental and continuous 6 1 1 Continuous Operation procedure 1 In jog mode select RUN KEY coordinate 2 Set jog override Next to the RUN KEY...

Страница 36: ...adjust Following options are available Setting Description Continuous Incremental jog move closed 100mm 10 1 increment 100 mm or 10 10mm 3 1 increment 10 mm or 3 1mm 1 1 increment 1 mm or 1 0 1mm 0 0...

Страница 37: ...override adjustment window and the override will be adjusted after pressing the corresponding button or dragging 2 You can set the desired manual override through the plus and minus keys or the scree...

Страница 38: ...e 6 2 Jog override display and adjustment 6 3 Tool selection and workpiece selection Description Up to 16 tool coordinate systems and 16 workpiece coordinate systems can be stored in the robot control...

Страница 39: ...workpiece coordinate system is displayed as the default regardless of the non default tool workpiece coordinate system selected before loading After running the program the tool workpiece coordinate...

Страница 40: ...y the current position X Y Z and direction A B C of the TCP The actual position of the axis The current positions of the axes A1 to A6 will be displayed If there is an additional axis the position of...

Страница 41: ...ement state The right picture is stop Figure 6 5 Display of moving to point 6 6 P point online editing Description P point online editing and modification function In manual mode and non running state...

Страница 42: ...le 4 Adjust the speed override to an appropriate value 5 After the program is displayed on the top of the teach pendant as ready click the physical run button on the left side of the teach pendant to...

Страница 43: ...e the emergency stop switch 3 In the teach pendant status display window click Alarm Confirm to clear the emergency stop error 9 Dual code control Description The dual code joint control is used to ru...

Страница 44: ...ed The optimization program only optimizes the motion instructions straight line and arc After optimization new motion parameters will be inserted into the program If you need to keep it you can copy...

Страница 45: ...ss package button in the first level menu bar to enter the process package selection interface The options will only be displayed when the technology package is installed 2 Click the option of process...

Страница 46: ...signment command Ignore Move command attribute VEL VROT CNT CNT_TYPE ACC DEC SKIP Ignore Move command contains additional commands OFFSET 1 If the additional command is a direct position compensation...

Страница 47: ...ssignment instruction TOOL_OFFSET_CONDITION LR 2 the fallback can be executed If it has not been executed the fallback cannot be executed and the robot stops running and alarms INC Encountering this i...

Страница 48: ...ment function 13 1 File Management Navigator Description Users can manage programs and files related all system in the navigator Header line Right area Display the files in the selected directory in t...

Страница 49: ...Folder Operation procedure 1 Select the folder where you want to create the file in the directory structure 2 Click New Folder 3 Select a program or folder 4 Give the name of the new file the name ca...

Страница 50: ...nu File Backup and Restore Settings to open the Backup Restore Settings dialog box 2 Set the backup and restore path to udisk U disk or the default path the default path is stored in Note The group ma...

Страница 51: ...the set restore path will be displayed Select the option that needs to be restored and click the OK button to complete the file restoration If you are restoring from a U disk you need to insert the U...

Страница 52: ...the Unlock button in the prompt box 3 Enter the unlock password and click OK to unlock the currently selected file 4 The initial password for unlocking is hspad Change unlock password 1 Select File Lo...

Страница 53: ...file get register file 2 Click to select the Group Number drop down box option 0 is selected by default 3 Check the check box and select the file to be sent or obtained 4 Click the Get File Send File...

Страница 54: ...e program is open 1 The program cannot be started 2 The program can be edited 3 The opened program is suitable for editing by the person who debugs the program 4 When closing a dialog box will pop up...

Страница 55: ...ement option to enter the log file management interface 2 Tick the check box of the log objects required 3 When the U disk has been inserted into the teach pendant and it is guaranteed to be recognize...

Страница 56: ...gital Input Output in the main menu 2 Click to select a specific input output and operate the IO through the buttons on the right side of the interface Figure 14 1 1 Digital input The input terminal R...

Страница 57: ...in red Click the value to switch the value to TRUE or FALSE Status Indicates that the digital input output terminal is real IO or virtual IO Real IO is displayed as REAL and virtual IO is displayed a...

Страница 58: ...n system signals and IO by default Operation procedure Run input and output configuration 1 Select Configuration Input Output Run Configuration in the main menu to enter the run configuration interfac...

Страница 59: ...59 Figure 14 2 1 Run input configuration...

Страница 60: ...iPRG_PAUSE Pause the program signal Suspend user program running Falling edge takes effect Automatic mode external mode Note The running configuration can only be operated in manual mode T1 T2 Note W...

Страница 61: ...edge enable to open set 0 to close Manual mode automatic mode external mode iSHARED_EN 1 Shared area 1 enable switch Rising edge enable to turn on set to 0 to turn off Same as above iSHARED_EN 2 Share...

Страница 62: ...ARED_EN 13 Shared area 13 enable switch Rising edge enable to turn on set to 0 to turn off Same as above iSHARED_EN 14 Shared area 14 enable switch Rising edge enable to turn on set to 0 to turn off S...

Страница 63: ...ALL modes oMD_CONN ModBus connection status Reserved temporarily unavailable ALL modes oREF 0 Reference point 0 ALL modes oREF 1 Reference point 1 ALL modes oREF 2 Reference point 2 ALL modes oREF 3 R...

Страница 64: ...x numbers and 256 external programs can be configured at the same time 7 The program selection interface pops up click to select the program to run 8 Click the OK button to complete the external progr...

Страница 65: ...bot by triggering the IO signal Switch the real IO signal or the menu bar display input output digital input output interface to the Virtual state and debug the teach pendant to externally run Referen...

Страница 66: ...uttons on the right can be used to turn pages modify and save registers 4 All modified operations must be saved in the file after clicking Save Description Variable list is used to have different type...

Страница 67: ...dure 1 Select Diagnosis Run Log in the main menu to display the Run Log window Key Description Number Description Log header Jump to log header Log end Jump to the end of the log 100 Turn up 100 entri...

Страница 68: ...ecified content can be filtered and filtered Operation procedure 1 Click the filter button on the run log interface 2 Set the log content to be displayed 3 After clicking OK it will return to the runn...

Страница 69: ...log filter 15 1 2 Log configuration Operation procedure 1 Click on the main menu and select Diagnosis Run Log Configuration to display the log configuration interface 2 Set the log output file etc 3...

Страница 70: ...ibration 2 Select the user workpiece number to be calibrated and set the user workpiece name 3 Click the Start Calibration button 4 Move to the origin of the base coordinates and click Origin to obtai...

Страница 71: ...r coordinate system select the calibrated workpiece number and move in the XYZ direction and it will move in the calibrated direction Figure 16 1 Base coordinate calibration 16 2 Four point calibratio...

Страница 72: ...tain the coordinate record coordinates 6 Move to a certain point of the calibrated reference point 3 click reference point 3 to obtain the coordinate record coordinates 7 Move to a certain point of th...

Страница 73: ...6 point method can calibrate the posture of the tool When recording points the fifth and sixth points are used to record points on the z axis and zx plane of the tool respectively The method refers t...

Страница 74: ...r version information click the drop down icon option You can see the version description in the Version Information interface Figure 17 1 Information display window 18 System 18 1 System language set...

Страница 75: ...lection the language selection dialog box is displayed and the alarm language is selected 18 2 Restart the teach pendant Operation procedure In the main menu select System Restart teach pendant and se...

Страница 76: ...System Restart System in the main menu and select OK in the pop up dialog box to restart the teach pendant Some settings need to restart the system to take effect such as load send register file etc 1...

Страница 77: ...up space Figure 18 2 Upgrade the system 18 7 Import and export PLC of users Description With the function import and export PLC of users you can back up the user s PLC in the existing controller syste...

Страница 78: ...the Select File key of the import module select the app file to confirm that you want to import the file 4 Click the Select File key of the import module select the crc file and confirm that you want...

Страница 79: ...t directory of the export module to confirm the selection 4 In the import export calibration parameter interface click the Export key to export the calibration parameters 5 Import Click the Select Fil...

Страница 80: ...is subprogram 19 1 1 Program structure The program is divided into three modules axis initialization variable declaration and main program The structure is as follows attr VERSION 0 GROUP 0 end pos P...

Страница 81: ...er programs The main program calls other programs the syntax is CALL program name the program is executed here call the subprogram execute the program content of the subprogram after the execution ret...

Страница 82: ...iting interface 19 2 Overview of programming instructions The instructions type and the instructions contained in the type are as follows Instructions Types Instructions Movement instruction J L C A C...

Страница 83: ...imeout instruction WAIT TIMOUT LBL PULSE output pulse instruction PULSE TIME Program control instruction PAUSE ABORT END Other instructions THROW SET_TR RUN SET_TOOL SET_FREME Offset instruction OFFSE...

Страница 84: ...ion The movement instructions include movement of joint J and movement of and linear L as well as the C instruction for drawing an arc Edit box for movement instructions No Instruction 1 Select instru...

Страница 85: ...itate the use of the point value through the register in the future 19 2 1 1 J instruction and L instruction Description The J instruction takes the current position of a single axis or a certain grou...

Страница 86: ...nstruction line which needs to be inserted 2 Select instruction motion instruction J or L 3 Enter the point name 4 Configure the parameters of the instruction if no parameters are set it will adopt th...

Страница 87: ...vious line of the instruction line which needs to be inserted 2 Select instruction motion instruction C 3 Click the input box of the first point move the robot to the required posture point or axis po...

Страница 88: ...eds to be inserted 2 Select instruction motion instruction A 3 Input the name of the point 4 Configure the parameters of the instruction if no parameters are set it will adopt the default motion param...

Страница 89: ...P 4 A P 5 L P 6 The sentence above means see the figure below when the first circular motion A command line 2 is executed the robot motion mode is linear motion that is the robot move from current poi...

Страница 90: ...ue before the robot moves to the target point the robot will execute the current motion instruction and start executing the next line of the program after reaching the target point Program example J P...

Страница 91: ...GOTO LBL 4 LBL 2 J P 2 GOTO LBL 4 LBL 3 J P 3 LBL 4 Example Realized by IF GOTO sentence after looping the program for 3 times exit the loop R 1 0 LBL 1 IF R 1 3 GOTO LBL 2 J P 1 IF condition GOTO LBL...

Страница 92: ...es Instruction Condition instructions are used for motion logic control in the robot program There are two types IF condition GOTO LBL IF condition CALL subprogram IF condition CALL Name of program PR...

Страница 93: ...options to add conditions delete conditions and modify conditions When recording the sentence the condition list will be connected in the order of addition Figure 19 2 IF Instruction 4 Click the Rise...

Страница 94: ...peration column to add the IF instruction Example LBL 1 IF R 1 10 AND R 2 20 AND R 30 30 OR DO 31 ON GOTO LBL 2 J P 1 VEL 50 GOTO LBL 3 LBL 2 IF R 1 2 CALL TEST PRG J P 2 VEL 50 LBL 3 GOTO LBL 1 Logic...

Страница 95: ...are shown in the following table Operators Operation AND If one condition is false all the conditions are false OR If one condition is true all the conditions are true NOT Take the opposite value of t...

Страница 96: ...CASE 2 GOTO LBL 2 CASE 3 CALL RT PRG Supplementary when 3 is also 1 and R 0 1 the previous LBL 1 will be executed for only one time ELSE CALL HS PRG In actual use this instruction does not necessarily...

Страница 97: ...se are two programs main program MAIN PRG subprogram SON PRG MAIN PRG Main program J JR 1 VEL 50 J JR 2 VEL 50 CALL SON PRG Calling the subprogram SON PRG Subprogram DO 1 ON WAIT TIME 500 DO 1 OFF The...

Страница 98: ...truction is mainly used to jump the program to the designated label position LBL To use the GOTO word the LBL label must be defined in the program and GOTO and LBL must be in the same block Descriptio...

Страница 99: ...oop instruction defines the initial value and final value of a variable as well as the step value that is the size of each increment It determines whether the loop variable value is less than or equal...

Страница 100: ...final value in turn 4 Click to set step button set the step value click OK Figure 21 6 FOR Loop instruction 5 Click the OK button in the operation column to add the For condition 6 Select the end posi...

Страница 101: ...K in cycle instruction WHILE The WHILE loop body can also be connected to BREAK The usage is the same as the FOR loop instruction When the BREAK instruction is executed the current loop body is exited...

Страница 102: ...3 Add condition such as R 1 0 confirm 4 Click OK continuously to add WHILE R 1 0 5 Select command Cycle command END WHILE option 6 Click the Confirm button to add the WHILE cycle instruction to compl...

Страница 103: ...O operation Wait condition waiting and WAIT TIME sleep instruction The example above when R 1 0 P 1 and P 2 are running and when R 1 0 the motion program of the loop body is not executed When R 1 0 wh...

Страница 104: ...R R WAIT DI DO WAIT DI DI WAIT R R WATI DI 1 WATI DO 1 WATI R R WAIT DI ON WAIT DO ON WAIT R R WAIT DI ON WAIT DO ON WAIT R R WAIT DI OFF WAIT DO OFF WAIT R R WAIT DI OFF WAIT DO OFF WAIT R value WAI...

Страница 105: ...he DO instruction can be used to assign ON or OFF the current IO and can also be used to transfer values between DI and DO The WAIT instruction is used to block waiting for a specified signal The WAIT...

Страница 106: ...example WAIT R 1 1 J P 1 VEL 100 DO 1 ON DO 2 OFF WAIT TIME 100 J P 2 VEL 100 19 6 4 Timeout instruction Instructions WAIT instruction usage scenarios can be divided into two situations The first one...

Страница 107: ...re 19 8 Timeout command WAIT DI DO R value DI DO ON OFF TIMEOUT LBL J JR 1 VEL 50 WAIT DO 40 ON TIMEOUT LBL 2 WAIT timeout instruction J P 0 VEL 50 LBL 2 J P 2 VEL 50 In the above execution process th...

Страница 108: ...the joint moves to point P 0 DO 40 is set to ON at this time without waiting the next line of motion instructions are executed normally the joint moves to point P 1 the program execution is completed...

Страница 109: ...eset to OFF WAIT DO TIME value Situation 3 When two pulse commands operate on the same IO at the same time in the same time period they are superimposed in the time dimension according to the two puls...

Страница 110: ...truction Remarks As in the above program the program moves to point P1 and then to point P2 in sequence When the program executes to the PAUSE instruction the program state changes from running to pau...

Страница 111: ...m control instruction END 3 Click the OK button in the operation bar to add the END instruction to complete Figure 19 11 End instruction Note As in the above program the program moves to point P1 and...

Страница 112: ...ecutes to the subprogram END instruction End the subroutine return to the main program and then move to point P2 the program execution is complete 19 8 Other instructions 19 8 1 THROW instruction Inst...

Страница 113: ...Alarm Type drop down box option and select 5 Click the OK button in the operation bar to add the THROW instruction to complete Figure 19 12 THROW instruction 19 8 2 RUN multi threaded running instruc...

Страница 114: ...you can click the program interface display soft key in the status bar and select the program to switch the program interface Soft keys can control all running programs at the same time If you click...

Страница 115: ...can continue to resume operation Servo alarm When the program is running the servo alarms the main program and the RUN program will end at the same time When the alarm is removed it can continue to r...

Страница 116: ...to the system among them the ABORT END and PAUSE instructions in the multithreading only control the current program and do not affect the main program 19 8 3 SET_TR instruction Instructions Specify...

Страница 117: ...n To P 1 then move straight from P 1 to P 2 Note P2 point is set to trigger condition 0 or 1 and the first line of the program is set to trigger 1 because the internal periodical detection of robot TC...

Страница 118: ...position as the starting point again The designated distance signal output J joint command is invalid Supplement During actual operation the specified distance signal output is related to the operati...

Страница 119: ...LR 0 LR 1 2 UF 15 2 10 Add 5 to the Z axis value of workpiece number 15 and assign the result to the Z axis of LR 1 UFRAME_NUM 15 UTOOL_NUM 0 SET_TOOL 0 LR 0 SET_FRAME 15 LR 1 L P 1 L P 2 Remarks As i...

Страница 120: ...position compensation and tool compensation Among them position compensation is performed in the user coordinate system and tool compensation is performed in the tool coordinate system 19 9 1 1 OFFSE...

Страница 121: ...t for example the target point uses the joint coordinate system and the compensation point position uses the Cartesian coordinate system When the arc command is compensated only the end point is compe...

Страница 122: ...d in the direction of the tool coordinate system When changing the direction around the tool coordinate system the position remains unchanged There are two ways to display tool compensation commands o...

Страница 123: ...point for example the target point uses the joint coordinate system and the compensation point position uses the Cartesian coordinate system When the arc command is compensated only the end point is...

Страница 124: ...number 4 Click the OK button in the operation bar to complete adding the global offset Figure 19 19 Global offset instruction 19 9 2 INC incremental instruction Explanation Relative movement is also...

Страница 125: ...90 0 10 10 10 10 10 10 5 5 5 5 5 5 5 85 185 5 95 5 Steps 1 Select the previous line of the instruction line to be inserted or 2 Select instruction motion instruction additional assignment to enter the...

Страница 126: ...sters Support the assignment operation of register instructions 19 11 FINE positioning instructions Instructions The FINE positioning instruction is a smooth transition CNT to increase the FINE positi...

Страница 127: ...r users and there are 300 JR and LR registers Generally the user assigns the preset value to the register corresponding to the index number such as R 0 1 JR 0 JR 1 LR 0 LR 1 the register can be direct...

Страница 128: ...in the program Register instructions include R JR LR JR LR P P Steps 1 Select the previous line of the register instruction line to be added 2 Select instruction Assignment instruction Example R 1 1...

Страница 129: ...ate value click OK to save the currently modified coordinate value to JR 0 register It should be noted that when the JR register is used in the motion instruction only the joint position can be record...

Страница 130: ...meters of the program and it takes effect in the entire program except for those with its own parameters The range of motion parameters is as follows The difference between global parameters and local...

Страница 131: ...UM 1 L_VEL 500 L_ACC 80 LBL 888 J P 1 J P 2 Is the default motion parameter J P 3 J P 4 GOTO LBL 888 LBL 888 CNT 1 J_VEL 100 J_ACC 100 J_DEC 100 Global motion parameters work downwards P 1 4 use the a...

Страница 132: ...on CNT mode can be used in joint interpolation and Cartesian interpolation mixed motion This parameter defines the starting position of arc transition and its value is a percentage CNT 0 100 Smooth tr...

Страница 133: ...er is set to 100 it means that the arc transition starts at point A and ends at point C and the entire new path is completely different from the original path But when this parameter is set to 0 it me...

Страница 134: ...he VORD instruction uses the program to adjust the program adjustment value of the robot It can be assigned as a constant or R register and the value range is 1 100 When the program executes to the VO...

Страница 135: ...OK button to complete the modification instruction addition Figure 19 21 Modification command 19 12 5 Timing instruction Explanation The TIME instruction can calculate the beat or the program running...

Страница 136: ...click to select 7 Click the OK button to complete the adding instruction 19 13 Manual instruction Description Used to manually enter the command line Figure 19 13 Manual command Steps 1 Select the pre...

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