ABB DSQC248 3HAA3563-AAA控制器模块
修改TCP约束关节影响控制机器人使用关节的程度的平衡。减小一个轴的权重值将限制该轴的运动，而增大权重值将促进该轴相对于其他轴的运动。1.在“模拟”选项卡上，单击“运动行为”选项卡。单击标题栏展开“TCP约束”组。可以约束TCP运动的方向和旋转现在显示在网格3中。对于要约束的每个姿势，选中“启用”复选框并指定约束值（TCP坐标系中的位置）。要使用当前TCP位置的值，请单击“从TCP拾取”。4.（可选）调整约束的“权重”值。值越低，约束越困难，而值越高，偏差越大。
Modifying the TCP constraints
The joint influence controls the balance of how much the robots will use their joints.
Decreasing the weight value for one axis will restrict the motion for this axis, while increasing
it will promote motion on this axis relative to alternative axes.
1. On the Simulation tab, click the Motion Behavior tab.
2. Expand the TCP Constraints group by clicking its title bar.
The directions and rotations in which you can constrain the TCP’s motion are now
displayed in the grid
3. For each pose you want to constrain, select the Enable check box and specify the
constraint values (location in the TCP coordinate system). To use the values from the
current TCP position, click Pick from TCP.
4. Optionally, adjust the Weight value for the constraint. A low value results in a harder
constraint, while a high value allows a larger deviation.
