GE IS420ESWBH1A燃机卡
点动机器人要检查机器人是否可以到达工件上的所有位置，可以通过对话框的徒手命令点动TCP或机器人的关节。用后一种方法最好能让机器人在靠近其腹部的地方慢跑。慢跑几个机制来程序慢跑机器人的关节徒手，请参见第227页的慢跑关节。有关对话框，请参见第394页的机构关节点动。点动机器人的TCP对于徒手，请参见第228页的点动线性。有关对话框，请参见第396页的机构线性点动。功能描述多机器人点动当使用多机器人点时，所有选定的机构都将遵循所点动机构的TCP。多机器人慢跑适用于各种慢跑。参见第229页的多机器人点动。带锁定TCP的点动当点动带锁定TCP移动机器人（如轨道外轴）的机构时，机器人将重新定位，即使其基架移动，TCP的位置也不会改变。当点动外部轴以锁定TCP移动工作对象时，机器人将重新定位，使其TCP以与使用多机器人点动时相同的方式跟随工作对象。当缓动与机器人属于同一任务的机制时，锁定TCP可用。
Jogging a robot
To check if the robot can reach all positions on the work piece, you can jog the TCP or the
joints of the robot, either with the freehand commands of through dialog boxes. Jogging the
robot close to its boudaries is best done with the latter method.Jogging several mechanisms
To Procedure
Jog the joints of a robot For freehand, see Jog Joint on page 227. For a dialog box, see
Mechanism Joint Jog on page 394.
Jog the TCP of a robot For freehand, see Jog Linear on page 228. For a dialog box, see
Mechanism Linear Jog on page 396.
Function Description
Mutlirobot jog When using multirobot jog, all selected mechanisms will follow
the TCP of the one being jogged.
Multirobot jog is available for all kinds of jogging.
See MultiRobot Jog on page 229.
Jogging with locked TCP When jogging a mechanism that moves a robot (like a track
external axis) with locked TCP, the robot will reposition so that
the position of the TCP does not change, even though its
baseframe is moved.
When jogging an external axis that moves the work object with
locked TCP, the robot will reposition so that its TCP follows the
work object in the same way as when using multirobot jog.
Locked TCP is available when jogging a mechanism that
belongs to the same task as a robot.
