Installation and Commissioning

DescriptionMovementsA sequence of movements is programmed as a number of partial movements betweenthe positions to which you want the robot to move.The end position of a movement is selected either by manually jogging the robot to thedesired position with the joystick, or by referring to a previously defined position.The exact position can be defined (see Figure 6) as:- a stop point, i.e. the robot reaches the programmed positionor- a fly-by point, i.e. the robot passes close to the programmed position. The sizeof the deviation is defined independently for the TCP, the tool orientation andthe external axes.Stop pointFly-by pointUser-definable distance (in mm)Figure 6 The fly-by point reduces the cycle time since the robot does not have to stop atthe programmed point.The path is speed independent.The velocity may be specified in the following units:- mm/s- seconds (time it takes to reach the next programmed position)- degrees/s (for reorientation of the tool or for a rotation of an external axis)Program managementFor convenience, the programs can be named and stored in different directories.Areas of the robot’s program memory can also be used for program storage. This givesa very fast memory where you can store programs. These can then be automaticallydownloaded using an instruction in the program. The complete program or parts ofprograms can be transferred to/from a diskette.Programs can be printed on a printer connected to the robot, or transferred to a PCwhere they can be edited or printed.10 Product Specification IRB 1400 M98/BaseWare OS 3.1