ABB P3EDb HENF452778R1 DCS工控备件
导入工具工具是对工件进行操作的特殊对象，例如电弧焊枪或夹具。为了在机器人程序中实现正确的运动，必须在刀具数据中指定刀具的参数。工具数据的最重要部分是TCP，它是工具中心点相对于机器人手腕的位置（与默认工具工具0相同）。导入时，该工具将与机器人无关。因此，为了使工具与机器人一起移动，您必须将其连接到机器人上。要导入工具，请在“常用”选项卡中单击“工具”，然后从库中选择一个工具。导入定位器要导入工具，请在“主页”选项卡中单击“定位器”，然后从库中选择定位器将轨迹添加到系统要选择要使用的外轴模型，请执行以下步骤：注意！本程序不适用于具有轨道运动的机器人系统IRBT4004、IRBT6004或IRBT7004。它们由TrackMotion媒体池配置，而不是添加单独的配置文件。
Importing a tool
A tool is a special object, for example, an arc weld gun or a gripper, that operates on the work
piece. For achieving correct motions in robot programs, the parameters of the tool have to be
specified in the tool data. The most essential part of the tool data is the TCP, which is the
position of the tool center point relative to the wrist of the robot (which is the same as the
default tool, tool0).
When imported, the tool will not be related to the robot. So in order for the tool to move with
the robot, you must attach it to the robot.
To import a tool, in the Home tab, click Tool and then select a tool from the gallery.
Importing a positioner
To import a tool, in the Home tab, click Positioner and then select a positioner from the
gallery Adding the track to the system
To select the model of the external axis to use, follow these steps:
NOTE!
This procedure is not applicable for a robot system with track motions IRBT4004, IRBT6004,
or IRBT7004. They are configured by the TrackMotion mediapool and not by adding
separate configuration files.
