Linear motion in an industrial robot refers to the linear movement of the tool TCP (Tool Controlled Threshold) mounted on the robot's sixth-axis flange in space. Coordinate linear motion should specify the coordinate system, tool coordinates, and workpiece coordinates. The coordinate system includes Earth coordinates, datum coordinates, tool coordinates, and workpiece coordinates. Specifying the tool coordinates for the TCP indicates the position of the coordinate system in which the TCP operates. The workpiece coordinates are assigned to the TCP when they are selected in the coordinate system. What are the different manual operation modes for industrial robots?
Step 1: Click "Manual Operation" in the ABB main menu drop-down menu.
Do not wear gloves when operating the teaching board and control panel. When clicking to operate the robot, use a lower multiplier to increase the robot's control opportunities. Before pressing any click buttons on the teaching board, consider the robot's movement trends. Plan ahead to avoid the robot's movement trajectory and ensure the path is unobstructed.
Step 2: Click on Action Mode and select Linear Mode.
Before you begin operation, you must understand all the tasks the robot will perform according to its programming. This includes knowing the location and status of all switches, sensors, and control signals that affect the robot's movement. The location of the emergency stop buttons on the robot controller and peripheral control devices must be known, and you must be prepared to press these buttons in an emergency. Never assume the robot has completed a program where it won't move, as it may be waiting for an input signal to continue moving.
Step 3: Select the tool coordinate system "tool0"
There are more welding robots than stacking robots: Wire movement key: The wire "+" allows the wire to be sent through the welding torch, and the wire "-" allows it to be pulled back through the torch. WELDENBL key: Used during operation to control whether the welding process begins.
Step 4: Press the start button with your left hand to enter the "motor on" state.
Operate the joystick and tool coordinates (TCP) on the teach pendant, and click on the linear motion space. The X, Y, and Z arrows on the joystick direction bar indicate the positive direction of movement along each coordinate axis.
What motion modes are included in the manual operation of industrial robots? There are three modes of robot motion for manual operation: single-axis motion, linear motion, and repositioning motion. Before manual operation, the operation mode must be switched to manual deceleration mode. Below are the steps for manually operating the robot to perform these three actions. When performing linear and repositioning motions, the robot must first be calibrated; however, joint movements can move the robot regardless of whether it is calibrated or not.
Single-axis motion of a robot is also called joint motion. The robot body consists of multiple joint axes (degrees of freedom). Each joint axis is composed of components such as servo motors, encoders, and brakes. Single-axis motion here refers to independently controlling these axes of the robot. Menu -> Manual Operation -> Select 1-3 axes or 4-6 axes in motion mode -> Move the robot according to the joystick direction icon.
