機(jī)器人技術(shù)焊接coordinated motion

1、COORDINATED MOTION同步運(yùn)動(dòng)1.The Coordinated Motion Option同步運(yùn)動(dòng)的選用（目的）A.Coordinated Motion is an additional option installed into a robot that has a programmable auxiliaryaxis positioner connected to it. It provides for greater ease of teaching of programs which require the robot arm and the positioner to

2、 move together in unison.對(duì)于一個(gè)帶有可編程外部輔助軸的人來說，可使用外部軸同步運(yùn)動(dòng)。在編寫需要人臂與外部軸同步運(yùn)動(dòng)的程序時(shí)，同步運(yùn)動(dòng)指令能使程序的示教更加簡(jiǎn)單方便。Coordinated motion provides for an easier way to jog the the robot/auxiliary axis to teach welding points and it simplifies how welding travel speeds are taught for the portions of the program where coordi

3、nated motion is taught.B.同步運(yùn)動(dòng)指令為點(diǎn)器人及輔助軸從而示教焊接點(diǎn)提供更加簡(jiǎn)單的方法； 它簡(jiǎn)化了如何在同步運(yùn)動(dòng)被示教的地方進(jìn)行焊接速度的示教。Coordinated Motion allows one to jog an auxiliary axis to rotate the weld joint and at the same time have the robot/wire tip stay in the weld joint and move with the part as the part is being rotated. Not only is the

4、wire tip staying in the weld joint as the part is being rotated, the programmer can elect to have the torch angle remain at the same fixed position as he is jogging the auxiliary axis. This is referred to as Fixed Orientation.Or he can have the torch angle change as the part is rotated. This is refe

5、rred to as Attached Orientation.同步運(yùn)動(dòng)指令使你能夠運(yùn)動(dòng)外部軸從而旋轉(zhuǎn)焊縫，而此時(shí)讓人/焊絲端頭停留在焊縫處，當(dāng)待焊C.部件旋轉(zhuǎn)時(shí)隨著部件一起運(yùn)動(dòng)。當(dāng)編程同時(shí)運(yùn)動(dòng)輔助軸時(shí)，他也可以讓焊槍的角度保持在某種固定的位置上。這就是所謂的 Fixed Orientation；此外它也可以在部件被旋轉(zhuǎn)時(shí)讓焊槍的角度改變，這也就是所謂的 Attached Orientation。2.Terminology相關(guān)術(shù)語A. Motion Group- a software setup consisting of nine slots that a programmable axis

6、 can be installedinto. Motion Group 1 is primarily dedicated to the robot arm. The first 6 slots are dedicated to the 6 axis of the robot arm. This leaves 3 additional open slots that an auxiliary axis could be installed into. Installing an auxiliary axis into one of these slots could, however, pres

7、ent some safety hazards. If it were necessary to create a program on a side, fixed table, for example, as the programmer was recording points for a part on the side table, the auxiliary axis position would also be recorded into the program along with the 6 axis of the arm even though the auxiliary a

8、xis is not being used in the program; there is no way to lock it out or prevent it from being recorded into the program.軟件設(shè)置由九個(gè)孔槽決定，可編程軸能被安裝進(jìn)去。Group 1 是專門指派給人手臂的，前 6 個(gè)槽孔專門對(duì)應(yīng)人的這 6 個(gè)軸。其他三個(gè)孔槽留給輔助軸。在其中一個(gè)開放的孔槽中安裝一個(gè)輔助軸會(huì)存在一些安全隱患。 所謂 Motion Group，也就是將軸，再分別將其定義為其他的運(yùn)動(dòng) Group。人六個(gè)運(yùn)動(dòng)軸歸納為一個(gè) Group。如若有外部附加An excepti

9、on would be a programmable track that the arm is mounted on; here, it would be desirable to have the track and the robot arm all recorded into the same point.To prevent an auxiliary axis position from being recorded into a program that is not using the auxiliary axis, another minor option called Mul

10、tiple Motion Groups is installed into the robot. This gives the programmer the ability to disable or “Group Mask the auxiliary axis. If the weld cell had 1 auxiliary axis work station, a second motion groupwould be installed; a second auxiliary axis work station would require a third motion groupto

11、be installed. Theum number of motion groups is 3.A tilt/rotate positioner is a 2-auxiliary axis device. In this case, both axis would be installed into the same new motion group.1例外的是當(dāng)手臂安裝在可編程的軌道上，在同一個(gè)點(diǎn)上應(yīng)該把軌道和人臂的位置數(shù)據(jù)全部。要防止在一個(gè)程序中下不被使用的輔助軸的位置，在人中安裝“Multiple Motion Groups”，這能使編程者將某個(gè)軸設(shè)置成“Disable”或者“Grou

12、p Mask”。如果焊接單元有一個(gè)輔助軸工作站，應(yīng)該設(shè)置另一個(gè)“Group”， 若還有一個(gè)輔助軸，就要相應(yīng)地設(shè)置第三個(gè)“Group”。Group 的最大數(shù)值為 3 個(gè)。一個(gè)傾斜/旋轉(zhuǎn)位置調(diào)整器是一個(gè) 2 輔助軸設(shè)備。 這樣，這兩個(gè)軸都應(yīng)被安裝進(jìn)同一個(gè)新的 Group 中。B. Leader Group- the auxiliary axis; this will be motion group 2 or 3. As the leader group is manually jogged, the follower group ( which is the robot arm, motion g

13、roup 1) follows along or moves with the leader group.引導(dǎo)動(dòng)作組外部輔助軸，通常為 Group 2 或 3。因?yàn)橐龑?dǎo)動(dòng)作組是手動(dòng)的，跟隨動(dòng)作組（ 組 1）隨著引導(dǎo)動(dòng)作組一起移動(dòng)。C. Follower Group- the robot arm, motion group 1.跟隨動(dòng)作組永遠(yuǎn)是人動(dòng)作組 1。人臂動(dòng)作D. Rotary Axis-a rotating auxiliary axis such as a head/tail stock or tilt/rotate table.旋轉(zhuǎn)軸一旋轉(zhuǎn)輔助軸，如一個(gè)頭/尾架或者傾斜/旋轉(zhuǎn)臺(tái)。E.

14、Linear Axis-線性軸安裝a programmable track that the robot arm is mounted on.人臂的可編程軌道。F. Fixed Orientation- as the part is rotated with the wire tip stationary in the weld joint, the torch angle remains constant. Will be referred to as F21.固定方向焊絲端頭隨著工裝上的部件一起旋轉(zhuǎn)，焊槍角度保持不變。在設(shè)置屏幕中被成 F21.G. Attached Orientation

15、- as the part is rotated with the wire tip stationary in the weld joint, the torch angle changes accordingly. Will be referred to as C21.所附方向焊絲端頭隨著工裝上的部件一起旋轉(zhuǎn)，焊槍角度隨著部件的旋轉(zhuǎn)發(fā)生相應(yīng)地改變，在屏幕上被成 C21。3.Coordinated Motion Setup同步動(dòng)作設(shè)置A. Coordinated motion must be setup correctly before it can be used for programm

16、ing a weld joint. Prior to setting up coordinated motion, the following setups must have been performed first:當(dāng)在一個(gè)焊縫編程時(shí)使用同步運(yùn)動(dòng)指令(coord)前，必須對(duì)同步運(yùn)動(dòng)進(jìn)行恰當(dāng)?shù)脑O(shè)置。在對(duì)同步運(yùn)動(dòng)進(jìn)行 所有恰當(dāng)設(shè)置之前，必須首先完成如下設(shè)置：1. The auxiliary axis has been remastered and calibrated if it is a new installation( this must be done because the batt

17、ery backup for the auxiliary axis motor/encoder was disconnected for shipment).因?yàn)檩o助軸馬達(dá)/編碼器的電池備份由于Remastered 和校準(zhǔn)。注：該項(xiàng)校準(zhǔn)的具體步驟為：自定義一個(gè)位置作為外部軸的零點(diǎn)位置，然后切換到外部軸的 Group， 之后進(jìn)入 zero master 的設(shè)置界面進(jìn)行 master 的具體操作。 結(jié)束后再執(zhí)行校準(zhǔn)（calibrate）。2. A tool frame (tool center point) has been setup for the torch mounted on the r

18、obot arm.對(duì)于安裝到人臂上的焊槍來說，工具坐標(biāo)（TCP）已被設(shè)置好。3. A mark or pointer has been placed on the rotating, moving portion of the auxiliary axis.已經(jīng)斷開連接，如果重新安裝輔助軸，必須對(duì)其進(jìn)行在輔助軸的旋轉(zhuǎn)和移動(dòng)方面，推薦設(shè)置一個(gè)標(biāo)記或者指示。4. The auxiliary axis has been jogged to its zero degree position; press the POS key at bottom of teach pendant and be sur

19、e G2 ( or G3 if desired ) is displayed on the blue bar at top of teach pendant( press FCTN key,curser to line “Change Group”, Enter) to assist in zeroing.If its a tilt/rotate table, have both axis at their zero degree position.輔助軸置零；按下示教器下方的 POS 鍵，并確保 G2（或者 G3）出現(xiàn)在示教器頂端的藍(lán)條上（按下 FCTN 鍵，光標(biāo)在行“Change Grou

20、p”，enter），在相應(yīng)的界面上對(duì)輔助軸進(jìn)行置零。2B.1.Press按下S key, curser to line “Setup”, Enter。S，光標(biāo)停在 Setup 行，按 Enter。2.Press F1-Type key, curser to line “Coord” (press 0-Next, if necessary to locate), Enter. Following screen now appears on teach pendant:按 F1-TypeCoordEnter。 下列屏幕出現(xiàn)：注：對(duì)于 leader framber 的具體數(shù)值，如果不特殊定義外部軸的

21、坐標(biāo)系， 則以屏幕默認(rèn)值為準(zhǔn)；如果為了方便編程，或者工件及外部軸安置方向較特殊，需要設(shè)定外部軸坐標(biāo)系，則通過 C_TYPELeader frame后出現(xiàn)的界面上進(jìn)行設(shè)置，具體步驟類似 touch sensing 中的 frame 設(shè)制。3. In this first screen, a “CD Pair” will be defined. A CD Pair is made up of 2 motion groups, either motion groups 1 and 2 or motion groups 1 and 3. A single auxiliary axis work sta

22、tion cell will require only 1 CD Pair to be setup. A 2 auxiliary axis work station cell, left and right head/tail stocks for example, will require 2 CD Pairs to be setup. With curser on line “ Coord Pair Number”, in the brackets, key in a 1, then press Enter.該屏幕中，一個(gè)“CD Pair(Coord Pair Number) ”要被限定。

23、一個(gè) CD Pair 是由兩個(gè)動(dòng)作組組成的，或者是Group1 與 2 或者是 Group1 和 3。僅有一個(gè)輔助軸的工作站僅需設(shè)置一個(gè) CD Pair； 而有兩個(gè)輔助軸的工作單元例如帶左右頭/尾架的工作站，將需要設(shè)定兩個(gè) CD Pair。具體操作是將光標(biāo)移到“ Coord Pair Number”上，在后面鍵入 1，然后按下 Enter 鍵。4. Curser to line “Leader Group” and key in the motion group number of the auxiliary axis work station you are setting up (this

24、 will be a 2 or a 3), then press Enter.光標(biāo)移到行“Leader Group”處，并鍵入所設(shè)置工作站中輔助軸的 Group 號(hào)（或者 2 或者是 3），然后按下 Enter 鍵。5.At bottom of teach pendant screen will be a message that says “Position Data Will Be Cleared!”, press the F4-Yes key to confirm.NOTE: This message will not appear if setting up Coordinated M

25、otion on a robot that already had it setup in the past.在示教器的屏幕底端，將會(huì)出現(xiàn)一個(gè)提示信息，告知“Position Data Will Be Cleared!”,然后按下 F4- Yes 鍵進(jìn)行確認(rèn)。注：如果在一個(gè)過去已經(jīng)設(shè)置過同步動(dòng)作的人上再次設(shè)置同步運(yùn)動(dòng)的話，該信息將出現(xiàn)。6.Curser to line “Follower Group” and key in the motion group number of the follower group. The Follower Group will always be motio

26、n group 1 for the robot arm. Key in 1, Enter.光標(biāo)移動(dòng)到行“Follower Group”上，并鍵入 follower group 的組號(hào)，該號(hào)碼永遠(yuǎn)都是 1，也就是在后面的空格處鍵入 1，按下 Enter 鍵。Again, a message will appear at the bottom of the teach pendant screen on a new installation stating37.SETUPCoordG1JOINT10%1/5Coord Pair Number :1 Leader Group :2Follower G

27、roup :1X:0.000 Y:0.000 Z:0.000W:0.000 P:0.000 R:0.000Follower orientation: ATTACHED Leader framber: 2 TYPE C_TYP “Position Data Will Be Cleared!” Press the F key for Yes to confirm.這時(shí)在示教器屏幕的下方又會(huì)出現(xiàn)關(guān)于新安裝啟動(dòng)“Position Data Will Be Cleared!”。按下 F 鍵 Yes 進(jìn)行確認(rèn)。8. Curser to line “Follower Orientation”; it sho

28、uld indicate Attached. This could be changed to Fixed or to Both, depending on the programmers preference, by pressing the F4-Choice key. Section 4 of this instruction will detail this item further.光標(biāo)移動(dòng)到行 “Follower Orientation”; 該行后面應(yīng)該顯示 Attached。這項(xiàng)也能被編成 Fixed 或者“Both”， 根據(jù)編程的想法來選擇，步驟是 F4-Choice。本章節(jié)第

29、四部分將會(huì)進(jìn)行詳細(xì)闡述。9. Press F2-C_TYPE key; at sub, curser to line “Unknown”, Enter.New screen now appears, as shown below: F2-C_TYPE按下 F2-C_TYPE 鍵，在子菜單中，選擇“Unknown”,按下 Enter。 此時(shí)將會(huì)出現(xiàn)下方的屏幕：10.Curser to line “Axis Number”. Key in the number of the auxiliary axis being calibrated( 1 for a head/tail stock; for

30、a tilt/rotate table, the number would be a 1 for the calibration of the first axis and then later changed to a 2 for the calibration of the second axis)光標(biāo)指向行“Axis Number”，鍵入正在被校準(zhǔn)的輔助軸的號(hào)（對(duì)于一個(gè)頭/尾架來說為 1；對(duì)于一個(gè)傾斜/旋轉(zhuǎn)臺(tái)來講，第一軸的校準(zhǔn)號(hào)為 1，之后進(jìn)行第二軸的校準(zhǔn)時(shí)鍵入 2）。Line “Axis Type” should be Rotary. 行“Axis Type”應(yīng)設(shè)置成 Rotary。L

31、ine “Axis Direction” should be +X.行“Axis Direction“應(yīng)設(shè)置成+X。Move curser to line “Point 1”:Using desired coordinate (World, Jog Frame) system, jog the robot (group 1, make sure G1 is on the blue bar at top of screen) to a position where the wire tip just touches the mark or pointer on the auxiliary axi

32、s. See drawing below:11.12.13.移動(dòng)光標(biāo)到行“Point 1“上：使用期望的坐標(biāo)（world 坐標(biāo)系）系統(tǒng)，點(diǎn)器人（Group 1，確保 G1 在屏幕頂端的蘭條上）使焊絲端頭剛好接觸輔助軸上的標(biāo)記或者。見下方圖示：4SETUPCoordG1JOINT10%1/6Unknown type calibration Coord Pair: 1 Group Number Leader: 2 Follower: 1X:0.000 Y:0.000 Z:0.000W:0.000 P:0.000 R:0.000Axis Number:1 (Total: 1) Axis Type:R

33、OTARYAxis Direction:+X Point 1:UNINITPoint 2:UNINITPoint 3:UNINIT TYPE C_TYP EXEC MOVE_TO RECORDPress Shift and F5-Record; Uninit changes to Recorded.按下 Shift 及 F5-Record， 此時(shí) Uninit 將會(huì)變成 Recorded。Jog the robot (Group 1 ) up and away from the auxiliary axis a few inches.然后向上點(diǎn)器人（G1），使其離開輔助軸幾英寸。Move th

34、e curser to line “Point 2”:Change to group 2 (press FCTN key, curser to line “Change Group”, Enter), G2 should be on blue bar, Rotate the auxiliary axis in the +X direction approx. 30 to 90 degrees.Return to group 1 and jog the robot until the wire tip just touches the mark or pointer on the auxilia

35、ry See drawing below:移動(dòng)光標(biāo)到行“Point 2”:14.15.axis.改變成 Group2（按下 FCTN 鍵，光標(biāo)選擇行“Change Group“，按下 Enter， G2 應(yīng)該會(huì)出現(xiàn)在蘭條上。將人繞+X 方向旋轉(zhuǎn) 30 到 90 度。切換到 Group1 并點(diǎn)器人，直到人焊絲端頭剛好接觸到輔助軸上的標(biāo)記或指示器。Press Shift and F5-Record; Uninit changes to Recorded.5按下 Shift 及 F5-Record；Uninit 變成了 Recorded。16.Jog the robot (group 1) up a

36、nd away from the auxiliary axis a few inches.向上點(diǎn)器人（Group1）使其遠(yuǎn)離輔助軸幾英寸的距離。17.Move the curser to line “Point 3”.Change to group 2 ( press FCTN key , curser to line “Change Group”, Enter, G2 on blue bar. Rotate the auxiliary axis another 30 to 90 degrees in the +X direction.Return to group 1, and jog th

37、e robot until the wire tip just touches the mark or pointer on the auxiliary axis. See drawing below:將光標(biāo)移到“Point 3”：變換到 group 2 （按下 FCTN ，指針指向行“Change Group”, 按下 Enter, G2 將會(huì)在蘭條上。將輔助軸繞+ X 方向旋轉(zhuǎn) 30 到 90 度，返回到 Group1，并點(diǎn)軸上的標(biāo)記或者指示器上。見上圖所示：按下 Shift 及 F5-Record; Uninit 變成 Recorded.器人直到焊絲端頭剛好接觸到輔助18.This co

38、mpletes the recording of points for a one axis auxiliary axis work station as a head/tail stock. Proceed to step 19.However, if the auxiliary axis work station is a two axis work station such as a tilt/rotate table, then 3 more points must be taught for the second axis. In this case, return the firs

39、t axis back to its zero degree position (use the POS key at bottom of teach pendant to assist).Then, place a mark or pointer on the second axis and repeat steps 10-17. On step 10, with curser on line “Axis Number”, key in a 2 to replace the 1 that is currently there.Use the J2, + and Y, keys to jog

40、the second axis.這就完成了/尾架的輔助軸工作站的一個(gè)輔助軸上所有點(diǎn)的。繼續(xù)執(zhí)行第 19 步操作。然而，如果輔助軸工作站是一個(gè)兩軸的工作站，例如傾斜/旋轉(zhuǎn)臺(tái)，那么必須為第二個(gè)軸再示教 3 個(gè)點(diǎn)。如果這樣，將第一個(gè)軸返回到零度位置（采用示教器下方的 POS 鍵）；然后， 在第二個(gè)軸處放置一個(gè)標(biāo)記或者指示器，并重復(fù)上述的 10-17 步的操作。 在第 10 步，隨著光標(biāo)指向“Axis Number”,鍵入 2 取代已經(jīng)存在的 1。使用 J2、+和-Y 鍵來點(diǎn)動(dòng)第二個(gè)軸。19. With all points now taught, press Shift and F3-EXEC; t

41、he robot now completes the calibration.If it was done correctly, a message will appear at the bottom of the teach pendant thatreads “Pair Calibrated, Please Cold Start”. Cold Start means to power down the robot wait 3 seconds, then power up. There should be no alarms. See Step 4 on how to check for

42、correct calibration.所有點(diǎn)被示教后，按下 Shift 及 F3-EXEC；人就完成了校準(zhǔn)。如果以上操作被恰當(dāng)執(zhí)行， 一個(gè)提示信息將會(huì)出現(xiàn)在示教器屏幕底方“Pair Calibrated, Please Cold Start”。6Cold Start（FCTNCold Start） 意味著關(guān)掉人電源等待 3 秒鐘后再重新開電源。將有任何。檢人焊槍查人 COORD 設(shè)置的是否準(zhǔn)確，可以將人置于 C21 或者 F21 等狀態(tài)下點(diǎn)器人，如果端頭相對(duì)于外部軸位置不發(fā)生移動(dòng)，則證明設(shè)置準(zhǔn)確，否則，須重新設(shè)置?。蓞⒄障旅娴?4 部分的 B4 步驟進(jìn)行）。4. How to Jog an

43、d Program Using Coordinated Motion如何采用同步運(yùn)動(dòng)點(diǎn)動(dòng)系統(tǒng)和編程。A. There are two ways to jog the robot and the auxiliary axis together using Coordinated Motion:有兩種方法同步運(yùn)器人和輔助軸：1. Attached Orientation- this method allows for the part to be rotated, keeping the wire tip in the weld joint, and also forces the torch a

44、ngle to change automatically, maintaining the same torch angle to weld joint orientation.Attached Orientation-這種方法需旋轉(zhuǎn)部件，保持焊絲端頭在焊縫中，同時(shí)迫使焊槍角度自動(dòng)改變，維持焊槍與焊縫的夾角不變。2. Fixed Orientation- this method allows for the part to be rotated, keeping the wire tip in the weld joint but keeps the torch angle constant

45、as the part is rotated.Fixed Orientation-該方法使部件旋轉(zhuǎn)，而保持 焊絲端頭在焊縫中，并當(dāng)部件被旋轉(zhuǎn)時(shí)使焊槍角度不變。Which methods that are available to use is determined in the first or primary Coordinated Motion setup Screen, on the line “Follower Orientation”. See screen below:采用哪種方法是根據(jù)同步運(yùn)動(dòng)設(shè)置屏上行“Follower Orientation”后的設(shè)定來決定的。見表：當(dāng)光標(biāo)指向

46、 “Follower Orientation”時(shí)，按下 F4-Choice,一個(gè)子菜單將會(huì)出現(xiàn)在上方屏幕的頂端。如上面表所示。在子菜單中有三種供選項(xiàng)：a. Attached- allows the torch angle to change as the part is rotated Attached-隨著部件的旋轉(zhuǎn)改變焊槍角度。b. Fixed- keeps the torch angle constant as the part is rotated Fixed-當(dāng)部件旋轉(zhuǎn)時(shí)，保持焊槍角度不變。c. Both- allows for either method to be used fo

47、r joggingBoth-可使用其中任何法來點(diǎn)動(dòng)系統(tǒng)。Which method is the best method depends on the type of part being programmed and the desired outcomeof the program and ease of teaching and also theal preference of the programmer. Practicing ondifferent types of parts and weld joints using both methods is the best way to

48、 become proficient in determining which method would be the best to use for future jobs.哪種方法最好要根據(jù)所編程的部件的類型、期望的程序結(jié)果、示教的方便程度以及編程個(gè)人的7G1JOINT10%1 ATTACHED2 FIXED3 BOTH4SETUPCoordX:0.000 Y:0.000 Z:0.000W:0.000 P:0.000 R:0.000Follower orientation: AttachedLeader framber: 2 TYPE C_TYP CHOICE喜好。在不同類型的部件和焊縫上

49、采用兩種方法進(jìn)行實(shí)踐練習(xí)，以便決定在將來的工作中哪種方法是最好的。B. Attached Orientation method:Attached Orientation 方法：1. With G1 on the blue bar at top of teach pendant screen, jog the robot until the wire tip is placed in the Weld joint. Then press the FCTN key, curser to line “Change Group” (press 0-next to locate if necessary

50、), Enter. G2 should now appear on the blue bar.See example screen below:當(dāng) G1 在示教器頂端的蘭條上出現(xiàn)時(shí)，點(diǎn)器人直到焊絲端頭位于焊縫處為止。然后按下 FCTN鍵，光標(biāo)置于行“Change Group”，按下 Enter 鍵 G2 將會(huì)取代 G1 出現(xiàn)在蘭條上。見下方的示范屏幕所示：2. Press FCTN key again, curser to line “Toggle Coord Jog” (press 0-next to locate if necessary), Enter. See example scre

51、en below:再次按下 FCTN 鍵，光標(biāo)移到行“Toggle Coord Jog”，然后按下 Enter，見到下方屏幕出現(xiàn)：C21 現(xiàn)在出現(xiàn)在蘭條上.3. The letter C represents Coordinated Motion, the 2 represents motion group 2, the leader group which is the auxiliary axis. The 1 represents motion group 1, the robot arm. The 2 is in front of the 1, group 28AUX_DEMOC21J

52、OINT10%1/61:J P1 100% CNT 2:J P2 100% CNT3:J P1 100% CNT4:J P3 100% CNT5:J P1 100% CNTEndPOINT ARCSTRT WELD_PT ARCENDTOUCHUP>FUNCTIONS 1 ABORT (ALL)2 DISABLE FWB/BWD3 CHANGE GROUP4567 RELEASE WAIT8 TOGGLE COORD JOG90 next-AUX_DEMOG2JOINT10%1/61:J P1 100% CNT1 2:J P2 100% CNT13:J P1 100% CNT14:J P

53、3 100% CNT15:J P1 100% CNT1EndPOINT ARCSTART WELD_PT ARCEND TOUCHUP>0FUNCTIONS0 1 ABORT (ALL)0 2 DISABLE FWD/BWD0 3 CHANGE GROUP0 4567 RELEASE WAIT8 TOGGLE COORD JOG90 next-leads and at the same time group 1 follows.字母 C 代表同步運(yùn)動(dòng)（Coordinated Motion），2 代表動(dòng)作 G2 引導(dǎo)組，即輔助軸。 1 代表 G1臂。2 在 1 前面表示 G2 為引導(dǎo) G1

54、 為跟隨。人4. Now jog the auxiliary axis by pressing Shift and either J1 keys, +or X, and you will see that although you are technically jogging the auxiliary axis, the robot arm and wire tip are following right along with it. Also note the torch angle is changing as the part is being rotated. The abilit

55、y to jog in this manner will generally make teaching programs easier. One does not have to jog the robot arm out of the way first in order to jog the auxiliary axis to a new position for teaching points.現(xiàn)在通過按 Shift 及 J1、+或者 X 來點(diǎn)動(dòng)輔助軸，你將發(fā)現(xiàn)盡管您只是點(diǎn)動(dòng)了輔助軸，但人臂和焊絲端頭都跟隨著運(yùn)動(dòng)。也要注意，焊槍的角度隨著部件的旋轉(zhuǎn)而改變。一般來講，以這種方式點(diǎn)動(dòng)會(huì)使示

56、教更容易些。5. To return to jogging just the robot, group 1, (G1 on the blue bar), press the FCTN key , curser to line “Change Group”, Enter.要想只點(diǎn)器人 G1，（即 G1 在蘭條上），按下 FCTN 鍵，光標(biāo)置于行 “Change Group”,按下 Enter.6. To return to jogging just the auxiliary axis, group 2, (G2 on the blue bar), press FCTN key, curser to line “Toggle Coord Jog”, Enter.要想只點(diǎn)動(dòng)輔助軸 G2，（G2 在蘭條上），按下 FCTN ，光標(biāo)置于“Toggle Coord Jog”, 按下 Enter.C. Fixed Orientation method:固定方向1. With G1 on the blue bar at top of teach pendant screen, jog the robo