Setting tangential control

Command with which the tangential control is activated, deactivated and parameterized. Further information on tangential control can be found in the chapters Basics and Functional description.

If the tangential control is activated via this command ("Activate tangential control" = TRUE), it is active for all subsequent motion commands in the robot program until the tangential control is deactivated again by another SET_TANGENTIAL_PARA command with "Activate tangential control" = FALSE. While the tangential control is active, the parameters (e.g. the angle of attack) can be adjusted individually for each segment if required by inserting further SET_TANGENTIAL_PARA commands. The set parameters are adopted with the next path segment that follows in the robot program.

Fixed values or variables can be assigned to the parameters or the previously set value can be retained ("KEEP"). When the program is started, the basic state is established.

"New Block" value: "SET_TANGENTIAL_PARA"

[1]	Display of the set parameters of the tangential control
[2]	Activate/deactivate tangential control. The tangential control is then active / inactive for the subsequent path segments in the robot program. If only parameters of the tangential control should be changed, this parameter can be set to "KEEP".
[3]	Coordinate plane in which the tangential control should act
[4]	Angular offset between the path tangent and the coordinate axis of the tool coordinate system to be aligned ("angle of attack" of the tool)
[5]	Show/hide the parameters for the alignment movement
[6]	Limit angle for execution of a lifting movement and/or IEC function calls before and after the alignment movement (angle between current tool orientation and path tangent)
[7]	Lifting height by which the tool should be automatically lifted before the alignment movement if the limit angle [6] is exceeded. Procedure: Lifting movement > alignment movement (rotate tool) > lowering movement.
[8]	Specify whether IEC function calls should be executed automatically before and after the alignment movement if the limit angle [6] is exceeded.
[9]	Index of the IEC function call to be executed before the alignment movement (in which pneumatic lifting of the tool is programmed, for example). Only when the IEC function call returns "TRUE" is the alignment movement started. INFORMATION: For the IEC function calls to be executed, the use must be activated via the "Use CallFunctions at alignment" setting [8] and the set limit angle [6] must be exceeded.
[10]	Index of the IEC function call to be executed after the alignment movement (in which pneumatic lowering of the tool is programmed, for example). Only when the IEC function call returns "TRUE" is the path movement continued with tangential control. INFORMATION: For the IEC function calls to be executed, the use must be activated via the "Use CallFunctions at alignment" setting [8] and the set limit angle [6] must be exceeded.