Robot Programming 1: KUKA System Software 8 ( 1 (R2) V4 ) by KUKA


Robot Programming 1: KUKA System Software 8 ( 1 (R2) V4  ) by KUKA

Author:KUKA
Language: eng
Format: azw3
Publisher: UNKNOWN
Published: 2019-02-03T16:00:00+00:00



Fig. 7-6: Original path

A point is offset relative to the original path:

P3 is offset. This causes the path to change in segments P1 - P2, P2 - P3 and P3 - P4. Segment P4 - P5 is not changed in this case, as it belongs to an SCIRC and a circular path is thus defined.

Fig. 7-7: Point has been offset

The type of a segment is changed relative to the original path:

In the original path, the segment type of P2 - P3 is changed from SPL to SLIN. The path changes in segments P1 - P2, P2 - P3 and P3 - P4. PTP P0

SPLINE

SPL P1

SPL P2

SLIN P3

SPL P4

SCIRC P5, P6

SLIN P8 ENDSPLINE



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