5.2.4.5A CIRCLE
The orientation of the tool along the circle path can be chosen in two different ways:
- Method A The reorientation of the tool between the start point and end point will then
be performed as a twist in the base coordinate system. No consideration to
the orientation of the path is taken. An arc of up to 180° can be obtained from
three points. A larger arc can be obtained by building a second arc after the
first one.
- Method B The reorientation of the tool between the start point and end point will then be
performed relative to the circle path. It is possible to reorientate the tool keeping
a constant orientation relative to the circle path. An arc of up to 360° can be
obtained from three points.
2 = CIRCLE
POINT
4 = CIRCLE
POINT
2 = CIRCLE POINT
0
o
-180°
180° -360°
Method A
Method B
Description
Menu
Guide text
The orientation of the tool in relation to the circle path.
CIRCLE
ORIENTATION TO CIRCLE=
Def. range
0 = The orientation of the tool is linear interpolated along the circle path.
1 = The orientation of the tool is constant in relation to the circle path.
Default value
0 = The orientation of the tool is linear interpolated along the circle path.
5.2.4.5
CLINK, Robot identity computer link
Description
Menu selection to define that a computer link is connected to the control
system. The parameter is to be defined only if the computer link is physically
connected between the control system and superior computer, and if the
necessary software is installed in the superior computer.
INSTALLATION
S3
5:16
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