ECP Coordinate Systems (Option)
Specify a coordinate system whose origin point is on the tip of the outside fixed tool (hereafter referred to as the external control point or ECP) to move the robot arm holding a part in the trajectory made on the external control point along with the part's edges.
The following figures give a concrete example.
An ordinal Move statement controls the moving speed and orientation change of the tool center point (TCP). In the case of Move statement with the ECP argument, the part's edge is controlled to take a straight and constant-speed trajectory instead of TCP.
In the following example of no ECP, TCP takes a straight trajectory but the part's edge is distant from ECP.
If there is no orientation change, the trajectory is the same as normal operation of Move command.
| Symbol | Description |
|---|---|
| a | Start teaching point |
| b | End teaching point |
| c | ECP control... |
| Red Arrow | When you want to move at constant speed/constant orientation change in this direction |
| d | ECP coordinate system: Path along external control points |
| e | Robot Coordinate Systems |
| Blue Arrow | TCP path |
The following commands are available for optional ECP:
- Move command
- Arc3 command
- Curve and CVMove commands
- ECP jog motion in Robot Manager
Use the ECPSet statement for defining an ECP coordinate system. A maximum of 15 ECP coordinate systems can be defined. See details below.