ABB RC610 After sales service is provided for the control card of the power supply device

Description

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This is used for specifying constraints and rules for how the robots shall move relative to each
other. The default setting is no particular constraints, which results in the fewest joint
movements. However, changing the motion behavior might be useful for:
• Locking the orientation or position of the tool.
• Optimizing cycle time or reachability by allowing tolerances.
• Avoiding collisions or singularity by restricting joint motions.
Both Joint Influence and TCP Constraints restrict the robot’s motions. Changes in these
settings might result in lower performance or situations where it is impossible to find proper
solutions. The weight values for Joint Weights and TCP Constraints set how much the setting
for each joint or TCP direction shall affect the robots relative to each other. 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.
The tool tolerances control the allowed deviation between the tool and the work piece. By
default, tolerances are not enabled, which means that no deviation is allowed. Enabling a
tolerance, if applicable, might improve motion performance. For example, if the tool is
symmetric around its Z axis, you can enable the Rz tolerance without affecting the accuracy
of the generated paths.
The tool offset sets a fixed distance between the tool and the paths.
Joint
Influence
Select Robot Select the robot’s joints to constrain in
this box.
Joints for Robot Displays the robot’s joints and their
constraint weights. Each joint is
presented in its own row.
Axis Displays which axis the constraint
affects.
Influence Specify how much the motion for the
axis is constrained. 0 means a locked
axis, while 100 means no constraint
relative to default constraint values.
TCP
Constraints
Active TCP This grid displays the position and
rotations of the TCP together with
their constraint weights.
Enable Select this check box to activate the
constraint for this TCP pose.