1.1
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Run a partial simulation with the trace and watch the motion. Open the Teach dashboard. Select a welding path position and change the motion type from PTP to Linear. This affects how the robot moves alongside the path towards the position. Replay the simulation to notice the difference.
Several welding path positions with an operation have predefined motions. They cannot be modified. Circular motions can only be created directly on the process geometry.
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1.2
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In the dashboard, expand the Driven axis section. For example, modify the driven axis values to D1= -65 , D2= 30 , D3= -25 , and D5= -65 degrees. Press Enter to confirm the changes.
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1.3
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Expand the Configuration section and change the robot configuration.
Sometimes a welding path position can be reached in more than one posture. The available configurations then are shown in this section. By default the robot configuration is set to the one with the least axis change, referred to the previous posture.
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1.4
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A double click on the manipulator center will highlight the different available configurations for this position. Change the welding path position to see the effect on the different configurations.
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1.5
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Click on the + (or -) sign on the driven axis 4. This will change the turn.
Some positions can be reached with an axis using different (turn) values. Play the simulation before and after to visualize the change.
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