Corner zones for path optimizing
zone _
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B
curved
path
When changing direction or passing a corner, the robot TCP follows a smooth curve which
starts at the incoming edge of a defined "zone".
The next instruction starts to execute at the incoming edge of the zone.
The zone size corresponds to the defined size in mm (or inches) in rectangular coordinates.
In robot coordinates, measurements are made in increments, and the zone size is generally
somewhat smaller than the defined size.
There are two types of zone size definition:
Absolute value - the zone size directly corresponds to the defined size (in rectangular
coordinates).
Velocity-dependent value - the zone size is proportional to the programmed TCP-velocity. At
1000 mm/sec the zone size corresponds to the defined size (in rectangular coordinates).
Definiton of zones
The system parameter ZONE is used to define the different available zones:
CORNER 1 CORNER 2
Guide textZone (mm) =
Definition Range
Absolute Value
Velocity-dependant
Defaults Values (mm)
If text "zone (in) =" appears, the values shown are in inches.
FINE CORNER 1 CORNER 2 PATH
2-100 mm 2-100 mm 2-100 mm 2-100 mm
-200 to-lmm -200 to-lmm -200 to-lmm
+2 +15 -100 -25
INSTALLATION
5:13
S3
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