B&R X20CP3586控制器
B&R X20CP3586限制類型指定關(guān)節(jié)可以移動到的每個(gè)方向上的限制。選項(xiàng)包括“常量”、“變量”和“編號”關(guān)節(jié)限制。該組在“常量”或“變量”模式下可見。最小限制指定最小關(guān)節(jié)限制。最大限制指定最大關(guān)節(jié)限制。關(guān)節(jié)限制該組在“常量”或“變量”模式下可見?？勺兿拗圃诳勺兡Ｊ街?，可以添加可變限制點(diǎn)作為限定移動區(qū)域的高級方式。將選定的點(diǎn)添加到點(diǎn)列表框中。刪除單擊此按鈕從“點(diǎn)”列表框中刪除選定點(diǎn)。“修改幀/工具數(shù)據(jù)”對話框幀/工具的數(shù)據(jù)節(jié)點(diǎn)確定幀的鏈接和位置B&R X20CP3586。幀/工具名稱指定幀或工具數(shù)據(jù)的名稱。屬于鏈接指定框架或工具所屬的鏈接。位置指定變換的位置。方向指定變換的方向。從目標(biāo)/幀中選擇值選擇此框可從復(fù)選框下方的框中選擇目標(biāo)或幀中的值。工具數(shù)據(jù)如果機(jī)構(gòu)是工具，則該組可見。質(zhì)量指定工具的質(zhì)量。重心指定工具的重心。慣性矩lx，ly，lz指定工具的慣性矩。B&R X20CP3586
B&R X20CP3586控制器
Limit Type Specifies the limits in each direction to which a joint may move. The options are Constant, Variable and No. Joint Limits This group is visible in Constant or Variable mode. Min Limit Specifies the minimum joint limit. Max Limit Specifies the maximum joint limit. Joint Limits This group is visible in Constant or Variable mode. Variable Limits In Variable mode, variable limit points may be added as an advanced way of delimiting the area of movement.Adds a selected point to the Point list box. Remove Click this button to remove a selected point from the Point list box.The Modify Frame/Tool Data dialog box A frame/tool data node determines the link and location of a frame.Frame/Tool Data name Specifies the name of the frame or tool data. Belongs to Link Specifies the link to which the frame or tool belongs. Position Specify the position of the transform. Orientation Specify the orientation of the transform. Select values from target/ Frame Select this box to select the values from a target or frame, which is selected in the box beneath the check box. Tool Data This group is visible if the mechanism is a tool. Mass Specifies the mass of the tool. Center of Gravity Specify the center of gravity of the tool. Moment of Inertia lx, ly, lz Specify the moment of inertia of the tool.
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