ABB robots possess exceptionally powerful data processing capabilities. Besides commonly used motion commands, many other commands are available. This article introduces the target point offset commands `off` and `reltool`. Format: `off(target point, X, Y, Z)` Meaning: Offsets the robot along the XYZ axes of the selected workpiece coordinate system by a certain distance based on the selected target point. For example, `moveloffs(p1,0,5), v10, z5, tool0wobj=wobj1` moves the robot TCP to p1 as the reference point and offsets it 5mm along the positive direction of the wobjZ axis. When the workpiece coordinate system is the default value wobj0, the offset data XYZ of the `off` command is equal to the geodetic coordinate system. ABB robot offset commands and usage tips?
I. ABB Robot Offset Command
1. Format: RelTool(target_point, X, Y, Z)
2. Meaning: Offset a certain distance along the XYZ axes of the selected tool coordinate system based on the selected target point. When setting the reference point, the Z direction of the tool is usually set to the normal direction of the currently machined surface. The XY component surfaces of the current tool coordinate system are parallel to the currently machined surface, and the XY offset direction in the tool coordinate system can be directly referenced.
3. Example:
Move the robot TCP to p10 as the reference point and offset it by 200mm along the positive Z-axis of the tool. Variables such as rotation angle can also be added.
II. Tips for using ABB robots
1. Click p0 to select the off function.
2. The first value represents the offset center point, the second represents the X-axis offset, the third represents the Y-axis offset, and the fourth represents the Z-axis offset. The image below shows an offset from point p10.
The RelTool command is the same as the close command, except that it compares the deviation of the tool coordinate system with the deviation of the tool.
The robot waits at home. Someone presses the DI signal, and the robot begins execution. Manual scheduling can be done multiple times at once; that is, if the signal is pressed three times manually, the robot will execute the command three times.
ABB robot offset instructions and usage tips? An interrupt means the robot's background is continuously scanning (similar to a PLC) and there is no conflict with the robot's foreground movement. If the background is scanning signals in real time, the set interrupt routine will be executed. There are no movement instructions in the interrupt routine; the foreground robot is moving continuously and this will not affect movement. Create a new routine and name it tr_1. Note: Select Interrupt (Trap) as the type.
