Macro instructions have the following functions:
Macro instructions can be taught in a program and started as a program instruction.
Macro commands can be launched from the manual operation screen of the instructor.
Macros can be started by using the user key of the trainer.
In the case of complex program, the use of macro instructions can greatly simplify the number of program lines, increase the readability of the code oh
The transfer function
The transfer function performs the following operations:
Moves and transforms position data in action statements relative to an existing program population or range.
The result of the transition is performed and entered into a new program or an existing program.
Perform the same transitions over and over again, relative to other programs
The transformed position data has the following rules.
The location data
The position data based on the right Angle coordinate values are converted to the right Angle coordinate values, and the position data based on the joint coordinate values are converted to the joint coordinate values.
Joint coordinate position data are stored as untaught values when they are transformed into values outside the movable range of axes. Cartesian coordinate position data, stored as-is transformation values.
Position registers do not convert position data.
Position data based on joint coordinate values that accompany action statements with incremental instructions are stored as untaught values
The scope of application of this function is very flexible, palleting, assembly, Ruiniu weld tracking and multi-layer multi-channel can be involved in oh!
Coordinate system replacement transfer function
Coordinate shift is a function that changes the TOOL coordinate system (TOOL) and user coordinates for a range of actions that have been taught in a program
Taking into account the transfer of the coordinate system before and after the transformation, the position data is transformed so that TCP becomes the same position.
Coordinate system change shift
The coordinate system replacement function performs the following operations:
Change the tool coordinate number or user coordinate system in the position data (rectangular coordinate values) in the action statement for an existing program population or a range.
When the position data is the joint coordinate value, the value is transformed taking into account the amount of transfer caused by tool change or user coordinate system change.
The result of the transition is performed and entered into a new program or an existing program.
Perform the same transitions over and over again, relative to other programs.
This feature is widely used and is one of the basic tools of robot vision. The transformed position data has the following rules.
The location data
The position data based on the right Angle coordinate values are converted to the right Angle coordinate values, and the position data based on the joint coordinate values are converted to the joint coordinate values.
Joint coordinate position data are stored as untaught values when they are transformed into values outside the movable range of axes. Cartesian coordinate position data, stored as-is transformation values.
Position registers do not convert position data.
Position data based on joint coordinate values that accompany action statements with incremental instructions are stored as untaught values
The scope of application of this function is very flexible, palleting, assembly, Ruiniu weld tracking and multi-layer multi-channel can be involved in oh!
Coordinate system replacement transfer function
Coordinate shift is a function that changes the TOOL coordinate system (TOOL) and user coordinates for a range of actions that have been taught in a program
Taking into account the transfer of the coordinate system before and after the transformation, the position data is transformed so that TCP becomes the same position.
Coordinate system change shift
The coordinate system replacement function performs the following operations:
Change the tool coordinate number or user coordinate system in the position data (rectangular coordinate values) in the action statement for an existing program population or a range.
When the position data is the joint coordinate value, the value is transformed taking into account the amount of transfer caused by tool change or user coordinate system change.
The result of the transition is performed and entered into a new program or an existing program.
Perform the same transitions over and over again, relative to other programs.
This feature is widely used and is one of the basic tools of robot vision.
