4.3.3 Programmable functions
Position programming instructions
• General parameter:
- Position accuracy;
- Speed, as a percentage of defined absolute speed.
• Supplementary parameter:
- A position brought:
directly from a position register;
indirectly from a position register via an address in a numerical register.
- Position offset value:
stored directly in an instruction;
brought from a numerical register.
- Duration, speed replaced by movement time;
- Circular movement.
- Continuous rotating external axes.
• Auxiliary functions:
(validity within definable program sections)
- Choice of:
coordinate system;
- TCP values
absolute speed.
- Displacement:
translation of a movement pattern by a reference point;
- translation and rotation of a program by a reference frame;
• Optional functions: (see chapter 6)
- Material- handling/Assembly/Gluing/Spot welding
- Arc welding
• Adaptive control
The robot system can be controlled by sensors mounted on the robot or on the
object. The robot system can store signal data for a maximum of 16 sensors,
and a maximum of three of the 16 sensors can be used during programmed
running of an instruction. The robot system can receive the following types of
signals from the sensors:
Digital 24 V signals at ordinary digital inputs.
- Three digital +24 V signals at the safety board.
An analogue signal of 0- ± 10V at an analogue input.
Description 1KB 2000
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