ABB 07CR41-I17 1SBP260021R1001扩展模块
ABB 07CR41-I17 1SBP260021R1001名称指定联合目标的名称。机器人轴单击“值”列表，在“关节值”对话框中输入值，然后单击“接受”。外部轴单击“值”列表，在“关节值”对话框中输入值，然后单击“接受”。存储类型如果要在多移动模式下使用联合目标，请选择存储类型TASK PERS。模块选择要在其中声明关节目标的模块。“边上的目标”通过在图形窗口中选择目标点来创建目标并沿几何曲面的边移动指令。几何边上的每个点都具有某些财产，可用于相对于边定位机器人目标。这可以替代曲线上的路径。有关从曲线创建路径的更多信息，请参见第208页的“从曲线创建的路径”。在边1上创建目标。在“常用”选项卡上，单击“目标”，然后选择“在边上创建目标”。将显示“边上的目标”对话框。注意！图形窗口中的选择模式自动设置为“曲面”，捕捉模式设置为“边”。ABB 07CR41-I17 1SBP260021R10012.单击实体或零件的表面以创建目标点。计算相邻边上最近的点，并将其添加到列表框中作为目标点点1、点2ABB 07CR41-I17 1SBP260021R1001
ABB 07CR41-I17 1SBP260021R1001Name Specify the name of the jointtarget.
Robot axes Click the Values list, enter the values in the Joint values dialog
box and click Accept.
External axes Click the Values list, enter the values in the Joint values dialog
box and click Accept.
Storage Type Select the Storage Type TASK PERS if you intend to use the
jointtarget in multimove mode.
Module Select the module in which you want to declare the jointtarget.Targets on Edge creates targets and move instructions along the edges of the geometric
surface by selecting target points in the graphics window. Each point on a geometric edge has
certain properties that can be used to position robot targets relative to the edge.
This can be an alternative to Path on Curve. For more information on creating path from
curve, see Path from Curve on page 208.
Creating targets on edge
1. On the Home tab, click Target and select Create Targets on Edge.
The Targets on Edge dialog box appears.
NOTE!
The selection mode in graphics window is automatically set to Surface, and the snap
mode is set to Edge.
2. Click on the surface of the body or part to create target points.
The closest point on the adjacent edge is calculated and added to the list box on as target
points Point 1, Point 2
