1. 通常的機(jī)器人輸送鏈跟蹤，均為直線輸送鏈跟蹤，例如下圖

2. 有些情況，輸送鏈為圓形，例如文首的圖例。ABB機(jī)器人也支持圓形輸送鏈跟蹤。與直線輸送鏈跟蹤相比，配置主要區(qū)別為直線跟蹤的單位是“米”，圓形跟蹤的單位是“弧度”。以下參數(shù)為圓形輸送鏈相關(guān)參數(shù)解釋。

參數(shù)名舉例

CountsPerMeter40000 counts per radian

At 6 m radius， one count = 0.15 mm

minimum distance 最小跟蹤距離-100 milliradians

At 6 m radius， = -600 mm

Conveyor base frame 輸送鏈基坐標(biāo)Base frame x = 8.0 m

Base frame y = 0.0 m

Base frame z = 0.0 m

The x-axis is rotated 2.44 rad from the world X （XIRB）Base frame q1 = 0.3420

Base frame q2 = 0.0000

Base frame q3 = 0.0000

Base frame q4 = 0.9397

SyncSeparation0.005 rad

At 6 m radius = 30 mm

QueueTrkDist0.017 rad

At 6 m radius = 100 mm

maximum distance420 milliradians

At 6 m radius = 2520 mm

StartWinWidth0.017 rad

At 6 m radius = 100 mm

3. 以上參數(shù)設(shè)置同Linear跟蹤，主要在配置-I/O的DeviceNet Command下

4. 對(duì)于圓形跟蹤，需要將配置-主題Motion下的Single Type的Mechanics改為ext_rot

將配置-主題Motion下的Transmission的Rotating Move改為Yes

責(zé)任編輯：xj