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11. Robot Language Explanation
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Application of Search
(1) 1 dimension search
As the above picture, 1 dimension search can be used in the case of an alike workpiece
moving or same type workpiece that have different size.
Search function is used with interrupt function as the above. It correct the
difference by using on-line shift after recording the shift amount in shift register.
Robot interrupt works at step 3 and saves the shift amount in shift registers. Robot
plays back step 4 ∼ step 7 correcting position by using shift registers. And robot
interrupt function is used with a step of interpolation record
★ a step of interpolation record is a step recorded that interpolation (linear,
circular) is on.
(2) 2 dimension search
1 Direction Searc
h
Teach Point
Welding Line
Search Range
1
2
3
4
5
6
7
8
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
Q
17P
18
2 Dimension search
Teach Point
Welding Line
Search Range