1. Auxiliary points
Type: POS, E6POS, FRAME If all the weights of the auxiliary points are not given, the controller will apply the value of the previous azimuth to the short weight. The postural angle within an auxiliary point, as well as the condition and data, are in principle overlooked. The track is not approaching the auxiliary point. Always run to that point. The coordinate values are based on the base coordinate system (BASE).
2. Target point
Type: POS, E6POS, FRAME
If all the weights at the target point are not given, the controller will apply the value of the previous bearing to the short weight. Within a target point of the POS or E6POS type, the condition and corner direction data are overlooked in the CIRC movement (as well as the LIN movement). The coordinate values are based on the base coordinate system (BASE).
3. Circular corner
The total angle of circular motion is given. This makes it possible to extend the movement beyond the programmed target point or, conversely, shorten the stroke. As a result, the goal of the practice does not match the goal set by the program.
Unit: degrees. Unlimited; In particular, a central angle can be greater than 360°. Positive central angle: the direction of the target point of the starting point >auxiliary point) moves around the circumferential orbit. Negative central angle: The starting point > the target point > the direction of the auxiliary point to move around the circumferential orbit.
4. The orbit is imminent
This parameter causes the target point to be approached by the orbit. This parameter is also used to define when the orbit is imminent. Possible parameters: C_ DIS
Interval Parameter: Orbital Imminence* starts early at a low interval from the target point
in $APO. CDIS value.
C_ ORI
Posture Parameters: Orbital Imminent* starts early below the dominant pose angle
$APO. CORI.
C_ VEL
Speed Parameters: Orbital Imminence* starts early when the speed is lower than $APO during the deceleration phase towards the target point. CVEL value.
KUAK robot CIRC operation method – KUKA robot accessories
KUKA Robots, KUKA Robots. KUKA robot programming, KUKA robot integration.
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