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3.1. Robot Motion During the Use of Online Tracking

3.1. Robot Motion During the Use of Online Tracking​

 

 

Figure 3.1 Robot’s Path Change During the Use of Online Tracking

 

Figure 3.1 shows how the robot paths change in accordance with the online tracking. With the use of the online tracking, the robot gets to an S2' point, not reaching the step S2 between the OnLTrack ON and OnLTrack OFF commands that activate this function because the incremental command of the position is applied to the robot motion, which makes the robot out of the planned teaching path. However, after the OnLTrack OFF, it starts from the S2' and gets to the step S3 as seen in Figure 3.1. Like this, the use of the online tracking may cause teaching paths to be changed by the incremental command; therefore, be careful, please.