ABB IMSPM01传输模块
ABB IMSPM01重要的是权重值之间的差异，而不是绝对值。如果设置了矛盾行为，则权重值最低的行为将获胜。“工具公差”（Tool Tolerance）而不是限制，可启用更多运动。因此，公差可以改善循环和处理时间，并提高机器人的可达性。公差也具有权重值；这里设置了机器人应使用公差的程度。低值表示将大量使用公差，而高值表示机器人将尝试避免使用公差。关节影响控制着机器人使用关节的程度。ABB IMSPM01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。TCP约束控制工具的位置和方向。启用TCP约束将减少刀具的运动并增加工件的运动。
ABB IMSPM01传输模块
It is the difference between the weight values that matters, not the absolute values. If contradicting behaviors have been set, the one with the lowest weight value will win. Tool Tolerance, instead of restricting, enables more motions. Therefore, tolerances may improve cycle and process times and enhance the reachability of the robots. Tolerances, too, have weight value; here is set how much the robots shall use the tolerance. A low value indicates that the tolerance will be used a lot, while a high value means that the robots will try to avoid using the tolerance. 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. The TCP constraints control the position and orientation of the tool. Enabling a TCP constraint will decrease the motion of the tool and increase the motion of the work piece.ABB IMSPM01
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