Robcad学习资料.pptVIP

* Robcad V9.0 * 7:Creating Via Locations There are three methods to create via locations: ? Method 1: By interpolation ? Method 2: By Jog ? Method 3: By Pick Creating Via Locations Method 1: By Interpolation This method generates new via locations between two existing locations that are specified, by joint or Cartesian interpolation. * Robcad V9.0 * 7:Creating Via Locations Creating Via Locations Method 2: By Jog This method generates via locations by jogging a robot or any joint thereof, and then by marking the current location of the robot TCPF; the new via locations are generated superimposed on theTCPF. Method 3: By Pick This method generates via locations at places selected by picking. The orientation of every via location is the same as the orientation of either first_location or second_location, whichever is closer to the via location. Usage: ? First pick two locations (the start and end locations for the segment to be modified) ? Continue to pick on path (with Where Picked) to add another location to the path. * Robcad V9.0 * 7:Creating Via Locations Creating Via Locations Important Collision Detection Ideas: the graphics update time interval the display precision Creating Start and End Vias Approach / Retract Locations in the Path If objects are blanked, they will not be detected in a collision Creating Collisions Lists Creating Vias to Avoid Collisions (Method 1 Method 2) Path Planner = Automatic path planner + Teach pendant * Robcad V9.0 * 8:Optimizing the Path Optimizing the Cycle Time Optimizing the cycle time can only be done through adjusting via locations. ? If collision checking is enabled, the intermediate locations are modified also to ensure that collisions do not occur. ? BUT if a collision occurs anywhere along the path segment before it is optimized, no optimization occurs. Optimizing the Robot’s Joint Movement Via_locs ? Optimize/Automatic ? This command is restricted to modifying joint movement only toward via locations. ? It is al