ABB DSQC236D 3HAB2207-1中央控制器单元
与机器人的任务相同如果外轴与机器人处于同一任务中，则活动外轴的当前位置与创建的每个目标一起存储。当机器人移动到目标时，外轴也将移动到存储位置。可以使用MultiMove功能自动修改和优化定位器外轴的位置，也可以手动对选定目标进行修改和优化。只能手动修改轨道外轴的位置。有关使用MultiMove功能的信息，请参阅第110页的关于编程MultiMove。有关如何手动修改外轴位置的信息，请参见下文机器人以外的其他任务。如果外轴位于机器人之外的其他任务中，则应与其协调，外轴的运动由MoveExt指令创建，协调由同步指令进行。对于定位器外部轴，可以使用MultiMove功能自动创建或优化MoveExt和同步指令，也可以通过为定位器创建带有MoveExt指令的路径，然后将同步指令添加到机器人和外部轴的路径来手动执行。跟踪外部轴只能手动编程。
Same task as the robot´s If the external axis is in the same task as the robot, the current
position of active external axes is stored with each target that is
created. When the robot then moves to the target, the external
axis will move to the stored position as well.
Modifying and optimizing the position of positioner external axes
can be automated using the MultiMove function, or be
performed manually for selected targets. Positions of track
external axes can only be modifed manually.
For information about using the MultiMove function, see About
programming MultiMove on page 110. For information about
how to modify the position of external axes manually, see below Other task than the robot’s If the external axis is in another task than that of the robot it shall
be coordinated with, the motions of the external axis are created
by MoveExt instructions, and the coordination is made by sync
instructions.
For positioner external axes creating or optimizing MoveExt and
sync instructions can be automated way using the MultiMove
function, or be performed manually by creating a path with
MoveExt instructions for the positioner and then adding sync
instructions to the path for the robot and the external axis. Track
external axes can only be programed manually.
