????控制銑削工作臺和工件的NC程序，通過CAD軟件創(chuàng)建，這些NC程序與特定的機器類型相關。???NC程序在笛卡爾坐標系中動作的描述，對于需要確保一個明確的變換軸位置的關節(jié)型的機器人來說，缺少附加的狀態(tài)和旋轉信息。

????? ?傳統(tǒng)的機床主要有3個線性軸。由于這個原因,當數(shù)控程序執(zhí)行,軸位置的變換是明確的。在笛卡爾路徑或定位速度以及和由此產(chǎn)生的軸速度之間有一個線性關系。,也就是說在工作區(qū)范圍內的機器工具, 可以使用相同的G代碼刀加工工件的表面, 甚至加工多個夾緊相鄰的工件。

KRL programs, on the other hand, are taught for a specific robot type and with
reference to a base, i.e. a specific workpiece position. Only then is it assured
that execution of the KRL programs with a jointed-arm robot will not exceed
the dynamic capabilities of the robot axes.
In order not to lose the advantage of G-code portability, we recommend positioning
the milling table in such a way that, for the expected applications, the
motions stay well clear of the singularity positions of the robot. If this is not taken
into consideration during system planning, the machining time is increased,
as the NC automatically reduces the path velocity as required. Furthermore,
non-constant path velocities have a detrimental effect on the process quality.
The following remedies are possible, however, in the case of singularities or
motions that exceed the dynamic capabilities (additional effort during start-up):
? Switch to axis space motion in the NC program (G-code).
? Program a rotation about the spindle axis in the NC program (G-code).



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