工业机器人系统离线编程与仿真 任务3 离线轨迹编程的工件坐标 4-3 离线轨迹编程的工件坐标.pptx

《工业机器人系统离线编程与仿真》机器人离线轨迹编程授课教师：谭晓芳 工业机器人技术教研室 工作任务3 离线轨迹编程的工件坐标 创建工件坐标一 任务3 离线轨迹编程的工件坐标任务描述： 为工作站创建一个工件坐标。工件坐标对应工件，它定义工件相对于大地坐标（或其他坐标）的位置。对机器人进行编程时就是在工件坐标中创建目标和路径，重新定位工作站中的工件时，只需要更改工件坐标的位置，所有的路径即可随之更新。工件坐标要求1）操作安全常规（人员整备，设备检查）；2）采用三点法进行建立；3）熟练掌握怎么建立工件坐标；4）理解为什么要建立工件坐标；一、创建工件坐标1、在“基本”功能选项卡中，打开“其它”，选择“创建工件坐标”。一、创建工件坐标2.更改工件坐标名称为“WobjFixture”。在“用户坐标框架”中的“取点创建框架”中选择“三点”法。一、创建工件坐标3.选取合适的捕捉工具。一、创建工件坐标4.选取图中的三个点，分别是X轴上的第一个点、X轴上的第二个点以及Y轴上的点。点击“Accept”。点2点1点3二、导入机器人5. 点击创建。一、创建工件坐标6.完成可以看到我们的工件坐标建立完成。总结 1、采用三点法进行建立；2、熟练掌握怎么建立工件坐标；3、理解为什么要建立工件坐标；!ThanksThese are the robots included in Robot Service Assessment in the RS 1.22 SP1 release. Note that Estimated lifetime ratio is not supported for all robots and axis. The reason is that lifetime models are not developed for all types of gearboxes.Since the assessment is based on data from connected robots, more robots will be made available when enough data is available in Remote Service (or elsewhere).Discalimer: The fleet assessment service rely on the data from RW and due to a bug in the computations, data from systems running RW from 6.00 until 6.03 is not reliable. From 6.03.01 the computations are corrected but still, upgrading a system to 6.03.01 will not automatically fix the problem. A manual reset of the gearboxes using the SIS service routine is necessary. An automatic fix for the problem will be implemented in a future version of RW (will be communicated via RSI).