12.

FUNÇÕES AVANÇADAS MAROBHT8304141P REV B

• $SRVLomRHVWiJUDYDGDHPFRRUGHQDGDVFDUWHVLDQDV
• 8PDLQVWUXomRDGLFLRQDOFRP,1&RXFRUUHWRUQmRpHVSHFLILFDGD
• 28)Q~PHURGDuser frameGRGDGRGHSRVLomRp

6HDYHULILFDomRFRQVLGHUDTXHDSRVLomRHQVLQDGDHVWiHPXPSRQWRGHVLQJXODULGDGHDSDUHFHD
VHJXLQWHPHQVDJHPGHDYLVRQDVGXDVOLQKDVVXSHULRUHVGRteach pendant

>&DQ¶WUHFRUGRQ&DUWHVLDQ*L@
>,QVLQJXODULW\@

RQGHLpRQ~PHURGRJUXSRGHPRYLPHQWRQRSRQWRGHVLQJXODULGDGH

$RPHVPRWHPSRDSDUHFHRVHJXLQWHpromptQDSDUWHLQIHULRUGRWHDFKSHQGDQW>5HFRUGFXUUHQW
SRVLWLRQRQMRLQW"@

$VWHFODVGHIXQomR><(6@H>12@VmRH[LELGDV6HOHFLRQHDWHFODDGHTXDGD

• ><(6@2VGDGRVGHSRVLomRVmRJUDYDGRVHPXPIRUPDWRGHFRRUGHQDGDVGHDUWLFXODomR
• >12@$SRVLomRQmRpHQVLQDGDRXPRGLILFDGD

3DUDGDGRVGHSRVLomRHPXPSURJUDPDTXHSRVVXLP~OWLSORVJUXSRVGHPRYLPHQWRDYHULILFDomR
GH VLQJXODULGDGH p H[HFXWDGD HP RUGHP DVFHQGHQWH GR Q~PHUR GR JUXSR 4XDQGR PDLV GH XP
JUXSR HVWi HP XP SRQWR VLQJXODU D PHQVDJHP GH DYLVR H D PHQVDJHP GH SURPSW DSDUHFHP
UHSHWLGDPHQWHSDUDFDGDJUXSR

9RFrQmRSRGHXVDUHVWDIXQomRSDUDHQVLQDU%2772032,176SDUDDIXQomRGHSDOHWL]DomRRX
HQVLQDU5287(32,176

 SOFT FLOAT (OPÇÃO)

12.47.1 Visão Geral



Soft FloatpXPUHFXUVRXVDGRSDUDFRPSHQVDUDVYDULDo}HVQDSUHFLVmRGDSHoDHPDSOLFDo}HVRQGH
R URE{pXVDGRSDUDPRQWDUSHoDVHPXPDPiTXLQDIHUUDPHQWD

1DPDLRULDGDVDSOLFDo}HVRURE{PRYHVHSUHFLVDPHQWHSDUDRVSRQWRVHQVLQDGRV4XDQGRRURE{p
XVDGRSDUDPRQWDUSHoDVHPXPDPiTXLQDIHUUDPHQWDDVYDULDo}HVQDSUHFLVmRGDSHoDSRGHPID]HU
FRPTXHDSRVLomRGDSHoDVHGHVORTXHHPUHODomRjIHUUDPHQWD(VVHGHVORFDPHQWRSRGHFDXVDUXPD
LQWHUIHUrQFLDHQWUHDSHoDHDIHUUDPHQWD$IXQomRSoft FloatSRGHFRPSHQVDUHVVDVYDULDo}HV

+iYiULRVURE{VTXHQmRVXSRUWDPWRGRVRVWLSRVGHSoft Float2VVHJXLQWHVWLSRVGHSoft FloatVmR

GLVSRQtYHLV

12–53
MAROBHT8304141P REV B 12. FUNÇÕES AVANÇADAS

• -RLQW6RIW)ORDW²6XDYLGDGHDRUHGRUGHDUWLFXODomRGRURE{SRGHVHUHVSHFLILFDGD
• &DUWHVLDQ6RIW)ORDW²6XDYLGDGHDRORQJRHDRUHGRUGDVFRRUGHQDGDVFDUWHVLDQDVSRGHVHU
HVSHFLILFDGDeERPQDFRPELQDomRGHFRQWRUQRHIDFHFRPRPRYLPHQWRGRURE{
• 3XVKRXW6RIW)ORDW²$SHQDVSoft FloatGHDOWRGHVHPSHQKR)RUoDHPRPHQWRQHFHVViULR
WRUQDPVHPHQRUHVTXHR&DUWHVLDQ6RIW)ORDWDWXDO3XVKRXW6RIW)ORDWQmRIXQFLRQDRQGH-
a eERPVHJXLQGRRpushout

$IXQomRSoft FloatpDWLYDGDHGHVDWLYDGDXVDQGRXPDLQVWUXomRHPXPSURJUDPDteach pendant

6XDVFRQGLo}HVVmRWDPEpPHVSHFLILFDGDVXVDQGRDLQVWUXomR

3DUDXVDUDIXQomR6RIW)ORDWYRFrGHYHID]HURVHJXLQWH

• 'HILQDpayload information$LQIRUPDomRSUHFLVDGHFDUJD~WLOpIXQGDPHQWDOSDUDREWHUR
UHVXOWDGRGHVHMDGRFRPDIXQomR6RIW)ORDW&RQVXOWHD6HomR
• &RQILJXUHSoft Float schedules$FRQILJXUDomRGHHVFDODVHQYROYHDHVFROKDHQWUHRPRGR
&DUWHVLDQRH-RJSDUDFDGDHVFDODDVVLPFRPRDHVSHFLILFDomRGHIOH[LELOLGDGH&RQVXOWHD6HomR
SDUDGHWDOKHVVREUHFRQILJXUDomRGHSoft Float schedules
• $GLFLRQHinstruções Soft Float DRVHXSURJUDPDteach pendant3DUDXPDGHVFULomRGHLQVWUXo}HV
6RIW)ORDWGRWHDFK SHQGDQWFRQVXOWHD6HomR

12.47.2 Restrições


$RXVDUDIXQomR6RIW)ORDWWHQKDHPPHQWHDVVHJXLQWHVUHVWULo}HV

Aviso

Quando a função Soft Float está ativa,

•O robô pode não seguir sempre a trajetória ensinada

•A trajetória ensinada muda de acordo com o override

•O tempo de execução pode ser aumentado

Esteja ciente desses efeitos, antes de ativar a função Soft Float. Caso
contrário, você pode ferir pessoas ou danificar o equipamento.

12–53

12. FUNÇÕES AVANÇADAS MAROBHT8304141P REV B

Aviso

Quando a função Soft Float está ativa, os freios do robô são afetados,
como segue:

• Se for feita tentativa de ativar Soft Float com freio ativado, o freio é
liberado automaticamente antes de a função ser ativada.

• Quando a função Soft Float está ativa, o controle do freio é inútil.

Certifique-se desses efeitos, antes de usar a função Soft Float. Caso
contrário, você pode ferir pessoas ou danificar o equipamento.


• $IXQomRSoft Floatpdesativada automaticamente TXDQGR
² $H[HFXomRGRSURJUDPDLQLFLDVH
² 4XDQGRDH[HFXomRGRSURJUDPDWHUPLQD
² $VSDUDGDVGRSURJUDPDGHYLGRDDODUPHTXHGHVOLJDRVVHUYRPRWRUHV
² -RJpH[HFXWDGRFRPRSURJUDPDSDXVDGR
² 2SURJUDPDpUHLQLFLDGRDSyVRFXUVRUVHUPRYLGRPDQXDOPHQWHFRPRSURJUDPDSDXVDGR
² $H[HFXomRUHYHUVDpH[HFXWDGD
² $HQHUJLDpGHVOLJDGD

• 6HRprograma é pausado e depois reiniciadoRVHVWDGRVGDIXQomRSoft Float FRPR
enabled/disabledH exec start ratioVmRGHILQLGRVHPFRQGLo}HVTXHH[LVWLDPDQWHVGHRSURJUDPD
VHSDXVDGRH[FHWRSDUDRVFDVRVOLVWDGRVQRLWHPDQWHULRUTXHID]HPDIXQomRSoft FloatVHU
GHVDWLYDGDDXWRPDWLFDPHQWH
• $IXQomRSoft Floatnão pode ser ativadaSRUTXDOTXHUPpWRGRGLIHUHQWHGRXVRGDLQVWUXomR
Soft Float
• 4XDQGRDfunção Soft Float está ativaRURE{PRYHVHXVDQGRRWLSRGHWHUPLQDomR&17
QHQKXPDYHULILFDomRGHSRVLomRpIHLWDPHVPRTXH),1(WHQKDVLGRHVSHFLILFDGRFRPRWLSR
GHHQFHUUDPHQWRGDLQVWUXomRGHPRYLPHQWR
• 4XDQGRDfunção Soft Float está ativaVHXPDIRUoDH[WHUQDID]RURE{PRYHUVHDOpPGHXPD
GLVWkQFLDGHWHUPLQDGDDVVHJXLQWHVPHQVDJHQVGHHUURGRVHUYRVmRH[LELGDV
² 6HRURE{HVWiHPUHSRXVR>65926WRSHUURUH[FHVV*L$M@
² 6HRURE{HVWiRSHUDQGR>65920RYHHUURUH[FHVV*L$M@

• 6HIRUIHLWDWHQWDWLYDGHativar a função Soft Float com freio aplicadoRIUHLRpOLEHUDGR
DXWRPDWLFDPHQWHDQWHVGHDIXQomRVHUDWLYDGD
• 4XDQGRDfunção Soft Float está ativaRFRQWUROHGRIUHLRpLQ~WLO

 12–532
MAROBHT8304141P REV B 12. FUNÇÕES AVANÇADAS

• 6HDmáscara do grupo de movimento no programa é [*,*,*,*,*,*,*,*] QmRKiJUXSRGH

PRYLPHQWRTXDQGRRSURJUDPDHPLWHLQVWUXo}HVFRPDIXQomRSoft FloatDVHJXLQWHPHQVDJHP
GHHUURpH[LELGD>,173SURJUDPQDPHOLQHQXPEHU,QYDOLGYDOXHIRUJURXSQXPEHU@
• 'LPLQXDDfaixa de movimentoXVDGDFRPDIXQomRSoft FloatDWLYD

$GLVWULEXLomRGHFDUJDQRVHL[RVGRURE{YDULDFRPDSRVLomRHDYHORFLGDGHGRURE{4XDQGRR
URE{pPRYLGRORQJHGDSRVLomRQRPLQDOQDTXDODIXQomRSoft FloatIRLDWLYDGDHVVDVYDULDo}HV
SRGHPID]HURURE{PRYHUVHHPXPDGLUHomRGLIHUHQWHGDGLUHomRGHIRUoDH[WHUQDDSOLFDGD
8PDYH]TXHDJUDYLGDGHpDFDUJDPDLVGRPLQDQWHHVVHPRYLPHQWRpIUHTXHQWHPHQWHDRORQJR
GDGLUHomR]&RPRUHVXOWDGRGHVVHFRPSRUWDPHQWRYRFrGHYHWHQWDUPDQWHUDIDL[DHD
YHORFLGDGHGRPRYLPHQWRGRURE{HPXPPtQLPRTXDQGRDIXQomRSoft FloatHVWiDWLYD

12.47.3 Configurando Escalas de Soft Float em Articulação



9RFrSRGHHVSHFLILFDUHVFDODVGHSoft Float QDWHOD6(7836RIW)ORDW3RGHPVHUHVSHFLILFDGDVDWp

GH]HVFDODVSDUDDIXQomRSoft Float.

$7DEHOD±OLVWDHGHVFUHYHFDGDLWHPGDHVFDODGHSoft FloatQDWHOD6(7836RIW)ORDW
&RQVXOWHDRSomRGHPRYLPHQWRGD6HomRSDUDPDLVLQIRUPDo}HVVREUHexec start ratio

8VHR3URFHGLPHQWRSDUDFRQILJXUDUHVFDODVGHSoft Float HP$UWLFXODomR

Tabela 12–117. Itens da Tela Joint Soft Float Schedule

ITEM DESCRIÇÃO

&RPPHQW (VWHLWHPSHUPLWHOKHGLJLWDUXPDGHVFULomRGDHVFDOD3DUDLQVHULUXPFRPHQWiULRPRYDR
FXUVRUSDUDDOLQKDSUHVVLRQH(17(5HGHSRLVSUHVVLRQHDVWHFODVGHIXQomRDGHTXDGDV
SDUDGLJLWDURFRPHQWiULR

([HF6WDUW5DWLR (VWHLWHPHVSHFLILFDRSRQWRRQGHDIXQomRSoft Float HVWiDWLYDVHDLQVWUXomR6RIW

)ORDW>Q@pXVDGDFRPRXPDRSomRGHPRYLPHQWR

$[LVn 6RIW5DWLR (VWHLWHPWDPEpPFRQKHFLGRFRPRIOH[LELOLGDGHGRVHUYRRXUD]mRGHVXDYLGDGHLQGLFDTXmR

6HUYR)OH[LELOLW\ IRUWHPHQWHRHL[RUHVLVWHDIRUoDVH[WHUQDVeHVSHFLILFDGRHQWUHH8PD
IOH[LELOLGDGHGHFRUUHVSRQGHjIRUoDPDLVIOH[tYHO$IOH[LELOLGDGHGRVHUYRSDUDFDGD
HL[RnSRGHVHUHVSHFLILFDGDQDWHUFHLUDOLQKDGDWHOD'(7$,/HQDVOLQKDVVXEVHTXHQWHV

(QDEOHGGLVDEOHG (VWHLWHPHVSHFLILFDVHDIXQomRSoft FloatHVWiDWLYDGDRXGHVDWLYDGDSDUDFDGDHL[R

(VSHFLILTXHLVWRQDOLQKDGDWHOD'(7$,/HQDVOLQKDVVXEVHTXHQWHV0RYDRFXUVRUSDUDR
ILQDOQDH[WUHPDGLUHLWDSRVLomRGHGHILQLomRHQDEOHGGLVDEOHGGHFDGDOLQKDSDUDID]HUFRP
TXHDVWHODV)(1$%/(H)',6$%/(DSDUHoDP8VHHVVDVWHFODVSDUDHVSHFLILFDUVH
DWLYDRXGHVDWLYDDIXQomRSoft Float.

12–533
12. FUNÇÕES AVANÇADAS MAROBHT8304141P REV B

Procedimento 12-81 Configurando Escalas Soft Float em Articulação

Condições

• 9RFrFRQILJXURXDGHTXDGDPHQWHDVLQIRUPDo}HVGHFDUJD~WLO&RQVXOWHD6HomR

Passos

1. 3UHVVLRQH0(18
2. 6HOHFLRQH6(783
3. 3UHVVLRQH)>7<3(@
4. 6HOHFLRQHSoft Float9HUDVHJXLQWHWHODFRPRH[HPSORGHWHODGHOLVWDJHP

6(7836RIW)ORDW
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5. Para alterar a exibição de detalhes para listagem, SUHVVLRQH)/,67

Para alterar a exibição de listagem para detalhes, SUHVVLRQH)'(7$,/

6. Para configurar Joint Soft Float schedules,
D 0RYDRFXUVRUSDUDSDUDDHVFDODTXHGHVHMDFRQILJXUDUHSUHVVLRQH)'(7$,/HGHSRLV
SUHVVLRQH )-2,179HUDVHJXLQWHWHODFRPRH[HPSOR

12–534
MAROBHT8304141P REV B 12. FUNÇÕES AVANÇADAS

6(7836RIW )ORDW
*URXS
6FKHGXOH1R> @ @
([HF6WDUW5DWLR 
 $[LV 6RIW 5DWLR   ',6$%/(
 $[LV 6RIW 5DWLR   ',6$%/(
 $[LV 6RIW 5DWLR   ',6$%/(
 $[LV 6RIW 5DWLR   ',6$%/(
 $[LV 6RIW 5DWLR   ',6$%/(
 $[LV 6RIW 5DWLR   ',6$%/(
 $[LV 6RIW 5DWLR   ',6$%/(
 $[LV 6RIW 5DWLR   ',6$%/(
 $[LV 6RIW 5DWLR   ',6$%/(

D Para ativar ou desativar a função Soft Float SDUD XP HL[R PRYD R FXUVRU SDUD D
SDODYUD (1$%/( RX ',6$%/( QD OLQKD TXH FRUUHVSRQGH DR HL[R TXH GHVHMD H
SUHVVLRQH)(1$%/(RX)',6$%/(
E 'HILQDexec start ratioHDVUD]}HVGHVXDYLGDGHDGHTXDGDVQRVYDORUHVGHVHMDGRV
F Para selecionar outra página da tela detailSDUDRXWUDVHVFDODVSUHVVLRQH)180%(5

12.47.4 Configurando Escalas Soft Float Cartesianas



9RFrHVSHFLILFDSoft Float schedules QDWHOD6(7836RIW)ORDW3RGHPVHUHVSHFLILFDGDVDWpGH]

HVFDODVSDUDDIXQomRSoft Float

$7DEHOD±OLVWDHGHVFUHYHFDGDLWHPGDHVFDODGHSoft FloatQDWHOD6(7836RIW)ORDW
&RQVXOWHDRSomRGHPRYLPHQWRGD6HomRSDUDPDLVLQIRUPDo}HVVREUHexec start ratio.

8VHR3URFHGLPHQWRSDUDFRQILJXUDUHVFDODVGHSoft Float&DUWHVLDQDV

Tabela 12–118. Itens da Tela Cartesian Soft Float

ITEM DESCRIÇÃO

6FKHGXOH1R (VWHLWHPHVSHFLILFDRQ~PHURGDHVFDOD 3RUdefaultYRFrSRGHHVSHFLILFDUDWpGH]HVFDODV

(QDEOHGLVDEOH (VWHLWHPHVSHFLILFDVHDWLYDURXGHVDWLYDUDIXQomRCartesian Soft Float4XDQGRGHILQLGRHP',6$%/(

Soft FloatQmRVHUiH[HFXWDGD

12–535

12. FUNÇÕES AVANÇADAS MAROBHT8304141P REV B

Tabela 12–118. Itens da Tela Cartesian Soft Float (Continuação)



ITEM DESCRIÇÃO

&RRUGLQDWH (VWHLWHPHVSHFLILFDDIUDPHXVDGD:RUOG8VHURX7RRO

;GLUHFWLRQ (VWHLWHPHVSHFLILFDDVXDYLGDGHIOH[LELOLGDGHQDVGLUHo}HVHURWDo}HVGRVHL[RV[\H]4XDQGRSoft

<GLUHFWLRQ Ratio p DXPHQWDGD D spring Constant QD GLUHomR VH WRUQDUi PHQRU 4XDQGR Soft Tolerance p
=GLUHFWLRQ DXPHQWDGDRPi[LPRGDIRUoDHPRYLPHQWRFRORFDGRVQDGLUHomRVHUiUHGX]LGD
;URWDWLRQ
<URWDWLRQ
)RUoDRX0RPHQWR
=URWDWLRQ

6RIW7ROHUDQFH

6RIW5DWLR

(UURGH3RVLomR

Procedimento 12-82 Configurando Escalas Soft Float Cartesianas



1. 3UHVVLRQH0(18
2. 6HOHFLRQH6(783
3. 3UHVVLRQH)>7<3(@
4. 6HOHFLRQHSoft Float9HUDVHJXLQWHWHODFRPRH[HPSORGDWHODGHOLVWDJHP


6(7836RIW)ORDW
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 12–536
MAROBHT8304141P REV B 12. FUNÇÕES AVANÇADAS

5. Para configurar escalas para Soft Float Cartesiana,

D 3UHVVLRQH)'(7$,/HGHSRLVSUHVVLRQH)&$579HUDVHJXLQWHWHODFRPRH[HPSOR

6RIW)ORDW&$57(6,$1
*URXS
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 (QDEOH'LVDEOH >',6$%/(@
 &RRUGLQDWH >:25/'@
6RIW5DW 6RIW7RO
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 = GLUHFWLRQ > @ > @
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 = URWDWLRQ > @ > @

E Para ativar ou desativar a função Soft Float SDUDXPDGLUHomRPRYDRFXUVRUSDUDD

SDODYUD³(1$%/(´RX³',6$%/(´HSUHVVLRQH)(1$%/(RX)',6$%/(
F 'HILQDRVLVWHPDGHFRRUGHQDGDVSDUDRYDORUGHVHMDGR
G 'HILQDsoftness ratioHsoftness toleranceSDUDRVYDORUHVGHVHMDGRV
H Para selecionar outra página da tela detail SDUDRXWUDVHVFDODVSUHVVLRQH)180%(5

12.47.5 Configurando Escalas Soft Float para Pushout



9RFrHVSHFLILFDSoft Float schedules QDWHOD6(7836RIW)ORDW3RGHPVHUHVSHFLILFDGDVDWpGH]

HVFDODVSDUDDIXQomRSoft Float

$7DEHOD±OLVWDHGHVFUHYHFDGDLWHPGDHVFDODGHSoft FloatQDWHOD6(7836RIW)ORDW
&RQVXOWHDRSomRGHPRYLPHQWRGD6HomRSDUDPDLVLQIRUPDo}HVVREUHexec start ratio

8VHR3URFHGLPHQWRSDUDFRQILJXUDUHVFDODVGH6RIW)ORWDWSDUD3XVKRXW

Tabela 12–119. Itens de Configuração de Pushout

ITEM DESCRIÇÃO

6FKHGXOH1R (VWHLWHPHVSHFLILFDRQ~PHURGDHVFDOD3RUdefaultYRFrSRGHHVSHFLILFDUDWp
HVFDODV

(QDEOH'LVDEOH (VWHLWHPHVSHFLILFDVHDWLYDRXGHVDWLYDDIXQomRCartesian Soft Float4XDQGR

GHILQLGRHP',6$%/(Soft FloatQmRVHUiH[HFXWDGD

12–537
12. FUNÇÕES AVANÇADAS MAROBHT8304141P REV B

Tabela 12–119. Itens de Configuração de Pushout (Continuação)

ITEM DESCRIÇÃO

&RRUGLQDWH (VWHLWHPHVSHFLILFDDIUDPHXVDGD:RUOG8VHURX7RRO

0RWLRQ7\SH $SHQDVXPHL[RSRGHVHU)5((HPXPJUXSR

6RIWGLUHFWLRQ

Procedimento 12-83 Configurando Esclas de Soft Float de Pushout

Condições

• 9RFrFRQILJXURXDGHTXDGDPHQWHDVLQIRUPDo}HVGHFDUJD~WLO&RQVXOWHD6HomR

1. 3UHVVLRQH0(18
2. 6HOHFLRQH6(783
3. 3UHVVLRQH)>7<3(@
4. 6HOHFLRQHSoft Float9HUDVHJXLQWHWHODFRPRH[HPSORGHWHODGHOLVWDJHP

6(7836RIW)ORDW
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5. 3UHVVLRQH)'(7$,/
6. 3UHVVLRQH!1(;7DWp)386+VHUH[LELGD
7. 3UHVVLRQH)386+6HUiH[LELGDXPDWHODVHPHOKDQWHjVHJXLQWH

12–538
MAROBHT8304141P REV B 12. FUNÇÕES AVANÇADAS

6RIW)ORDW386+287 -2,17 


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8. 'HILQDFDGDLWHPFRPRGHVHMDGR
9. 'HILQDRWLSRGHPRYLPHQWRGRHL[RTXHGHYHPRYHUVHSDVVLYDPHQWHVHJXLQGRDIRUoD
H[WHULRUGHILQLGRHVVHHL[RHP)5((9HUDVHJXLQWHWHODFRPRH[HPSOR

6RIW)ORDW386+287 -2,17 


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6RIWGLUHFWLRQ>1RQH @

10. 'HILQDRWLSRGHPRYLPHQWRGRHL[RTXHGHYHPRYHUVHSDVVLYDPHQWHVHJXLQGRDIRUoD
H[WHULRUHP)5(($SHQDVXPHL[RSRGHVHU)5((HPXPJUXSR

3RUH[HPSORSDUDID]HUDGLUHomR;GHworld coordinate softTXDQGR-pJUDXVRWLSRGH

PRYLPHQWRGH-GHYHVHU³)5((´9HUD)LJXUD±

12–539
12. FUNÇÕES AVANÇADAS MAROBHT8304141P REV B

Figura 12–194. Soft Float na Direção X

'LUHomR
3XVKRXW

'LUHomR
=


'LUHomR
;
(L[R
'LUHomR - )5((
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12.47.6 Instruções de Programa



3RGHPVHUXVDGDVDVVHJXLQWHVLQVWUXo}HV6RIW)ORDW

• 6RIW)ORDW>Q@
• 6RIW)ORDW(1'
• )2//2:83

Soft Float[n]

$6RIW)ORDW>Q@DWLYDDIXQomRSoft FloatDSDUWLUGDLQVWUXomRVHJXLQWHQRVHXSURJUDPDteach pendanWDWp

XPDLQVWUXomRSoft Float ENDVHUH[HFXWDGD$IXQomRSoft FloaWDWLYDGDXVDUiDHVFDODSoft Float³Q´

&RQVXOWHD6HomRSDUDGHILQLUSoft Float schedules

Nota 9RFrGHYHFRQILJXUDUDGHTXDGDPHQWHDVLQIRUPDo}HVGHFDUJD~WLOHHVSHFLILFDUDHVFDODFRUUHWD
GHFDUJD~WLOQRSURJUDPDSDUDXVDUDIXQomRSoft Float. $VLQIRUPDo}HVSUHFLVDVGHFDUJD~WLOVmR
IXQGDPHQWDLVQDREWHQomRGRUHVXOWDGRGHVHMDGRFRPDIXQomRSoft Float. &RQVXOWH D 6HomR

12–54
MAROBHT8304141P REV B 12. FUNÇÕES AVANÇADAS

9RFrSRGHXVDU6RIW)ORDW>Q@GHGXDVPDQHLUDVQRVHXSURJUDPDteach pendant$IRUPDTXHYRFr
XVDGHWHUPLQDTXDQGRGXUDQWHDH[HFXomRGRSURJUDPDDIXQomRSoft FloatHVWDUiDWLYD$
LQVWUXomR6RIW)ORDW>Q@SRGHVHUHVSHFLILFDGD

• &RPRXPDinstrução independente, QDVXDSUySULDOLQKDGHQWURGRSURJUDPD

• &RPRXPDopção de movimento GHQWURGHXPDLQVWUXomRGHPRYLPHQWR

Instrução Independente

Soft Float[n]

4XDQGRHVSHFLILFDGDFRPRXPDinstrução independenteQDVXDSUySULDOLQKDGHQWURGRSURJUDPD
DIXQomRSoft FloatpDWLYDGDDSyVRILQDOGRPRYLPHQWRHVSHFLILFDGRQDOLQKDTXHSUHFHGHD
LQVWUXomR6RIW)ORDW>Q@

1D)LJXUD±DIXQomR6RIW)ORDWpDWLYDGDDSyVRPRYLPHQWRHVSHFLILFDGRQDOLQKDFRPSOHWDU
VHHGHVDWLYDGDXVDQGR6RIW)ORDW(1'QDOLQKD1HVVHH[HPSORRWLSRGHWHUPLQDomR),1(QDV
OLQKDV HWHPRPHVPRHIHLWRGH&17

Figura 12–195. 
Exemplo de Instrução Soft Float[n] Independente

1: PAYLOAD[GP1:1]
2: J P[1] 100% FINE
3: SOFTFLOAT[1]
4: L P[2] 100mm/sec FINE
5: L P[3] 100mm/sec FINE
6: SOFTFLOAT END
P[1] P[2] P[3]

$IXQomRVRIWIORDWHVWiDWLYD

Opção de Movimento

L P[i] 100mm/sec FINE Soft Float[n]

4XDQGRHVSHFLILFDGDFRPRXPDopção de movimentoGHQWURGDLQVWUXomRGHPRYLPHQWRDIXQomR
Soft FloatWRUQDVHDWLYDGXUDQWHDH[HFXomRGDLQVWUXomRGHPRYLPHQWRTXHFRQWpPDRSomRGH
PRYLPHQWR6RIW)ODW>Q@

2SRQWRHPTXHDIXQomR6RIW)ORDWWRUQDVHDWLYDpGHWHUPLQDGRSRULWHPGHSoft Float schedule,

Exec Start RatioeGLVSRQtYHODSHQDVSDUDJOINT Soft Float schedules.

exec start ratiopHVSHFLILFDGRFRPRSRUFHQWDJHPGHDHPSDVVRVGHGHXPD

GLVWkQFLDDVHUGHVORFDGDDQWHVGHRURE{DOFDQoDURSRQWRHQVLQDGRTXHFRUUHVSRQGHjLQVWUXomR
GHPRYLPHQWRTXHFRQWpPDRSomRGHPRYLPHQWR6RIW)ORDW>Q@

12–54
12. FUNÇÕES AVANÇADAS MAROBHT8304141P REV B

1D)LJXUD±DIXQomR6RIW)ORDWpHILFD]HQWUH3>@HQVLQDGRXVDQGRDLQVWUXomRGHPRYLPHQWR
QD OLQKD  H 3>@ HQVLQDGR XVDQGR D LQVWUXomR GH PRYLPHQWR QD OLQKD  TXH FRQWpP D RSomR GH
PRYLPHQWR6RIW)ORDW>Q@1HVWHH[HPSORRWLSRGHHQFHUUDPHQWR),1(QDOLQKDWHPRPHVPRHIHLWR
TXH&17

• Exec Start Ratio 100% 2URE{FRPSOHWRXGRPRYLPHQWRSDUD3>@TXDQGR6RIW)ORDW

HVWiDWLYR,VWRVLJQLILFDTXHRURE{HVWiHP 3>@
• Exec Start Ratio 50% 2URE{FRPSOHWRXGRPRYLPHQWRSDUD3>@TXDQGR6RIW)ORDW
HVWiDWLYR,VWRVLJQLILFDTXHRURE{HVWiDPHLRFDPLQKRHQWUH3>@H3>@

Figura 12–196. 
Exemplo de Opção de Movimento Soft Float[n]

1: J P[1] 100% FINE

2: L P[2] 100mm/sec FINE SOFTFLOAT[1]
3: L P[3] 100mm/sec FINE
4: SOFTFLOAT END
P[1] P[2] P[3]




$IXQomRVRIWIORDWHVWiDWLYD

Soft Float END

6RIW)ORDW(1'GHVDWLYDDIXQomR6RIW)ORDW $GLFLRQHHVWDLQVWUXomRQRVHXSURJUDPDteach pendant

QDORFDOL]DomRHPTXHGHVHMDSDUDUGHXVDUDIXQomRSoft Float

FOLLOW UP

4XDQGRXPDIRUoDH[WHUQDpUHPRYLGDGRURE{HOHQRUPDOPHQWHWHQWDYROWDUSDUDRSRQWRHQVLQDGR
(QWUHWDQWRDLQVWUXomR)2//2:83ID]FRPTXHRURE{DVVXPDTXHDSRVLomRDWXDOpDSRVLomR
HQVLQDGDHHYLWDTXHHOHYROWHDRSRQWRHQVLQDGR8VHHVWDLQVWUXomRSDUDDQXODURFRPSRUWDPHQWR
QRUPDOGRURE{TXDQGRXPDIRUoDH[WHUQDpUHPRYLGD

12–542
MAROBHT8304141P REV B 12. FUNÇÕES AVANÇADAS

12.47.7 Orientações Gerais sobre Soft Float



12.47.7.1 Visão Geral



(VWD IXQomR 1­2 VH GHVWLQD D VHU XVDGD TXDQGR D ferramenta é flexível, o dispositivo não está
fixado, ou a peça é frágil (quebrável)7DPEpP&6)SRGHVHUXVDGRTXDQGRRHVSDoRHQWUHDSHoDH
R GLVSRVLWLYRHVWiHPWRUQRGHXPSDUGHPLOtPHWURV&6)1­2VHGHVWLQDDVHUXVDGDSDUDSHoDVGH
FRQWDWRHPWROHUkQFLDDSHUWDGD

4XDQGRSoft FloatHVWiDWLYDQHQKXPDIRUoDH[WHUQDSRGHVHUDSOLFDGDDRURE{4XDQGRSoft Float

HVWiDWLYDRVVHUYRVREHUYDUmRDJUDYLGDGHJUDYDQGRRWRUTXHGRPRWRUQDLQVWkQFLDHHPVHJXLGD
DOWHUDDULJLGH]GRURE{6HIRUoDH[WHUQDHVWiSUHVHQWHQRPRPHQWRHPTXH6RIW)ORDWHVWiDWLYDRV
VHUYRVQmRSRGHUmRGLVWLQJXLUHVVDIRUoDH[WHUQDGRHIHLWRGDJUDYLGDGH,VWRVLJQLILFDTXHSRGH
RFRUUHUSRVO-023 Stop/Move Error ExcessRXSRVO-112RXSRVO-111 Soft Float Time Out3RU
H[HPSORHPXPDDSOLFDomRGHpushout handlingYRFrGHYHID]HUXPSURJUDPDHPTXHSoft Float 
LQLFLHDQWHVTXHDPmRVHMDIHFKDGD9HURVHJXLQWHFRPRH[HPSOR

• Mau uso




&$//+1'&/26( )RUFHIURPRXWVLGH
 ZLOOEHDGGHGLI
62)7)/2$7>@ VRIWIORDWVWDUWV
 DIWHUWKHKDQGLV
:$,7VHF FORVHG
62)7)/2$7(1'
>(1'@

• Bom uso

12–543

12. FUNÇÕES AVANÇADAS MAROBHT8304141P REV B

)RUFHIURPRXWVLGH
 ZLOOQRWEHDGGHGLI
62)7)/2$7>@ VRIWIORDWVWDUWV
 EHIRUHWKHKDQGLV
&$//+1'&/26( FORVHG



:$,7VHF
62)7)/2$7(1'
>(1'@


12.47.7.2 Melhorando a Suavidade



(PERUDFRPDVPHVPDVGHILQLo}HVGHSoft Float scheduleDVXDYLGDGHGHSoft FloatpGLIHUHQWH

GHSHQGHQGRGDGLUHomRGRPRYLPHQWRORJRDQWHVGHSoft Float LQLFLDUVH,VWRpSRUTXH6RIW)ORDWp
PDLVVXDYHSDUDPRYHUQDPHVPDGLUHomRSDUDRPRYLPHQWRDQWHULRUHPHQRVVXDYHSDUDPRYHUQD
GLUHomRRSRVWDDRPRYLPHQWRDQWHULRU

3RUWDQWRIDoDRSURJUDPDFRPRORJRDQWHVGH6RIW)ORDWLQLFLDUVHHPRYDRURE{XPSRXFRQD
GLUHomRRSRVWDjGLUHomRHPTXHRURE{GHYHPRYHUVHXVDQGR6RIW)ORDWHGHSRLVPRYDRURE{GH
YROWDjSRVLomRSDUDLQLFLDUR6RIW)ORDW$GLVWkQFLDQHFHVViULDp±PPRXPDLRU3RUH[HPSOR
TXDQGRYRFrGHVHMDLQLFLDU6RIW)ORDWSDUDPRYHUQDGLUHomR;HP3>@PYRFrGHYHDGLFLRQDUD
VHJXLQWHLQVWUXomRGHPRYLPHQWRHQWUHDLQVWUXomRGHPRYLPHQWRSDUD3>@HDLQVWUXomR6RIW)ORDW
9HU)LJXUD±

 12–544
MAROBHT8304141P REV B 12. FUNÇÕES AVANÇADAS

Figura 12–197. 
Melhorando a Suavidade - Exemplo

3DUDYROWDUD3>@QDOLQKD
VHJXLQWHPRYDDGLUHomR
RSRVWDQHVWDOLQKD

-3>VIOWVWDUWSRV@),1(

/3>[PP@PPV&17,1&
/3>PP@PPV&17,1&

62)7)/2$7>@
:$,7VHF
62)7)/2$7(1'
>(1'@ 0RYHEDFNWR3>@LQ
WKHGLUHFWLRQWRPRYH
E\6RIWIORDW

3RUHVWHPpWRGRRURE{VHWRUQDUiPDLVVXDYHSDUDPRYHUQDGLUHomR;HPHQRVVXDYHSDUDPRYHU
QDGLUHomR;,VWRpHILFD]SDUDXVRHPJoint, CartesianHPushout Soft Float

Figura 12–198. 
Melhorando a Suavidade

0DX8VR %RPXVR

'LUHomRPRYLPHQWR 'LUHomRGHPRYLPHQWR
DQWHVGH6RIWIORDW DQWHV6RIWIORDW 3>@,1&

3>@ 3>@

'LUHomRDPRYHUSRU6RIWIORDW 'LUHomRDPRYHUSRU6RIWIORDW


12–545

12. FUNÇÕES AVANÇADAS MAROBHT8304141P REV B

12.47.8 Orientações sobre Soft Float Cartesiana 



12.47.8.1 Visão Geral



Cartesian Soft FloatpVXSRUWDGDWDQWRQDSoft FloatDWXDOFRPRQD6RIW)ORDWGH$OWR'HVHPSHQKR

$VXDYLGDGHDRORQJRHDRUHGRUGDVFRRUGHQDGDVFDUWHVLDQDVSRGHVHUHVSHFLILFDGD


12.47.8.2 Orientações Gerais sobre Soft Float Cartesiana 


Layout e Seleção de Ferramenta

$iUHDGH±QRLQWHULRUGDERUGDH[WHUQDGDiUHDGHRSHUDomRGDXQLGDGHPHFkQLFDp
UHFRPHQGDGD6HOHFLRQHDIHUUDPHQWDPDLVFXUWDSRVVtYHO

Definições do TCP 

8VHDGHILQLomRUHDOGDWRROIUDPH

Instalação do robô e equipamentos periféricos/seleção das ferramentas

&6)SRVVXLPHOKRUGHVHPSHQKRVH&6)pXVDGDGHQWURGHaGRHQYHORSHGHWUDEDOKRGR
URE{/HYHLVWRHPFRQVLGHUDomRTXDQGRGHFLGLUDLQVWDODomRGRURE{HDVHOHomRGHIHUUDPHQWDV

7DPEpPWHQWHXVDUIHUUDPHQWDVFXUWDVVHSRVVtYHO4XDQWRPDLRUDIHUUDPHQWDPDLVGLItFLOpID]rOD
VXDYHQDVGLUHo}HV;<=

2PRPHQWRpQHFHVViULRSDUDHVWHPRYLPHQWRGHUHRULHQWDomR6HOHFLRQHDVIHUUDPHQWDVFRUUHWDVH
GHILQDDVXDYLGDGHDGHTXDGDQDVGLUHo}HVGDRULHQWDomR&6):35

9HU)LJXUD±

 12–546
MAROBHT8304141P REV B 12. FUNÇÕES AVANÇADAS

Figura 12–199. 
Layout e Seleção de Ferramentas

aGR
HQYHORSHGH
WUDEDOKR

Configuração de Escala

'HILQDHPsoft ratioGDGLUHomRRXURWDomRTXHGHVHMDWRUQDUVXDYH$MXVWHSoft ToleranceQD

GLUHomRGHLPSXOVmRSDUDOLPLWDUDIRUoDHHYLWDUHPSXUUDUFRPXPDIRUoDPXLWRJUDQGH

Ensinando Velocidade

(PSoft FloatFRPPRYLPHQWRGRURE{RURE{SRGHQmRVHPRYHUVHXPDYHORFLGDGHSHTXHQDp
HQVLQDGD(QVLQHDYHORFLGDGHPDLRUTXHFHUFDGHPPVHJ

Definições de Suavidade

• Movimento de Inserção Sem Reorientação. 9HU)LJXUD±

12–547
12. FUNÇÕES AVANÇADAS MAROBHT8304141P REV B

Figura 12–200. 
Movimento de Inserção

0RYLPHQWRLQVHUomR

Tabela 12–120. Definições de Suavidade

Soft Ratio Soft Tolerance

'LUHomR; > >@

'LUHo}HV;<VmRVXDYHV
'LUHomR< >@ >@

'LUHomR= >@ >@ (PSXUUDQGRDSHoD

'LUHomR; >@ >@

'LUHomR< >@ >@ 2ULHQWDomRpIL[D

'LUHomR= >@ >@

Programação

6HRURE{pXVDGRSDUDPRYHURXHPSXUUDUDSHoDFRQWUDRGLVSRVLWLYRRXREMHWRVTXDQGR&6)
HVWiDWLYRDYHORFLGDGHSURJUDPDGDSRGHQmRVHUDOFDQoDGDIDFLOPHQWHGHYLGRDRDWULWR8VH
YHORFLGDGHSURJUDPDGDGHPPVHJ

3RUH[HPSOR

62)7)/2$7>@
/3>@PPVHF),1( LQVHUWLRQPRWLRQ

Definições do TCP

12–548
MAROBHT8304141P REV B 12. FUNÇÕES AVANÇADAS

6H8WRRO;<=pGHILQLGDHPTXDQGR&6)HVWiDWLYRDIOH[LELOLGDGHHP:35VHUiDXPHQWDGD
3RUH[HPSOR

8722/B180  8WRROVFKHGXOHIRU;<= :35QRFKDQJH

62)7)/2$7>@


62)7)/2$7(1'
8722/B180  RULJLQDOXWRROVHWWLQJ

• Movimento de Inserção com Reorientação 9HU)LJXUD±

Figura 12–201. 
Movimento Face-a-Face

0RYLPHQWRIDFHDIDFH

Tabela 12–121. Definições de Suavidade

Soft Ratio Soft Tolerance

'LUHomR; >@ >@ %RUGDGDSHoDQDVGLUHo}HV

;<QmRpVRIW
'LUHomR< >@ >@

'LUHomR= >@ >@ (PSXUUDQGRDSHoD

5RWDomR; >@ >@ 2ULHQWDomRGDSHoDGHYH

VHUPXLWRVXDYH
5RWDomR< >@ >@

5RWDomR= >@ >@

Programação

6HRURE{pXVDGRSDUDPRYHUHPSXUUDUDSHoDFRQWUDRGLVSRVLWLYRRXREMHWRVTXDQGR&6)HVWi
DWLYRDYHORFLGDGHSURJUDPDGDSRGHQmRVHUDOFDQoDGDIDFLOPHQWHGHYLGRDRDWULWR8VH
YHORFLGDGHSURJUDPDGDGHPPVHJ3RUH[HPSOR

12–549
12. FUNÇÕES AVANÇADAS MAROBHT8304141P REV B

62)7)/2$7>@
/3>@PPVHF),1( LQVHUWLRQPRWLRQ

12.47.8.3 Orientações de Aplicação de Contornos



Configuração da Escala

3RUH[HPSORHPFDVRGHHPSXUUDUQDGLUHomR=FRQVXOWHD7DEHOD±

Tabela 12–122.

6RIW5DWLR 6RIW7ROHUDQFH

'LUHomR;    
)DoDDGLUHomR;<VXDYH
'LUHomR<    

'LUHomR=     /LPLWHDIRUoDSDUDHYLWDUHPSXUUDU
FRPIRUoDPXLWRJUDQGH

5RWDomR;    

5RWDomR<     )DoDURWDomRUtJLGD

5RWDomR=    

Configuração do TCP

(PDSOLFDo}HVHPTXHDGLUHomRGDIHUUDPHQWDGHYHVHUPDQWLGDR7&3GHYHVHU;<H= 
TXDQGR6RIW)ORDWLQLFLDVH3RULVVRDGLIHUHQoDHQWUHDGLUHomRVXDYHHDGLUHomRUtJLGDDSDUHFH
EHP 9HU )LJXUD±

12–55
MAROBHT8304141P REV B 12. FUNÇÕES AVANÇADAS

Figura 12–202. 
Exemplo de Configuração do TCP

Tool frameFXMRV; 

< = H:35
8722/B180  VmRRVPHVPRVTXH
 GDIHUUDPHQWDUHDO

62)7)/2$7>@

8722/B180 

:$,7VHF
62)7)/2$7(1'
>(1'@
7&3GHIFRPRIHUUUHDO

12.47.8.4 Orientações de Aplicação de Adaptação à Face

Configuração da escala

3RUH[HPSORQRFDVRGHHPSXUUDUQDGLUHomR=FRQVXOWHD7DEHOD±

Tabela 12–123.

6RIW5DWLR 6RIW7ROHUDQFH

'LUHomR;    
)DoDDGLUHomR;<VXDYH
'LUHomR<    

'LUHomR=     /LPLWHDIRUoDSDUDHYLWDU
HPSXUUDUFRPIRUoDPXLWRJUDQGH

5RWDomR;    

5RWDomR<     )DoDDURWDomRVXDYH

5RWDomR=    

Configuração do TCP

8VHDtool frameGHILQLGDFRPRIHUUDPHQWDUHDO9RFrQmRWHPTXHDOWHUDUR7&3TXDQGR6RIW)ORDW
LQLFLDVH6HOHFLRQHDIHUUDPHQWDPDLVFXUWDSRVVtYHO$GLUHomR;<H=QmRSRGHWRUQDUVHUtJLGDR
VXILFLHQWHVHDIHUUDPHQWDpPXLWRORQJD2PRPHQWRGDGLUHomRSDUDHQFRQWDUDIDFHpQHFHVViULR
6HOHFLRQHDIHUUDPHQWDTXHSRGHJHUDUPRPHQWRGDGLUHomRSDUDHQFRQWUDUDIDFHHPSXUUDQGR
PHVPRFRPDPDLRURULHQWDomRGHVHQFRQWUDGD

12–55
12. FUNÇÕES AVANÇADAS MAROBHT8304141P REV B

12.47.9 Outras Orientações



12.47.9.1 Variáveis de Configuração de Soft Float



4XDQGRDIXQomRSoft FloatHVWiDWLYDVHRSURFHVVDPHQWRGHIROORZXSH[LJHPDLVWHPSRTXHR
HVSHFLILFDGRQDYDULiYHOGHVLVWHPD6)/7B)837,0RFRUUHRDODUPHGRVHUYRRXRDODUPHGHSDXVD
GRSURJUDPD$YDULiYHOGHVLVWHPD6)/7B(557<3HVSHFLILFDTXDODODUPHRFRUUHUi

$SFLT_FUPTIM

9DORUGHIDXOWPV(VVHYDORUYDULDGHXPVLVWHPDSDUDRXWUR2YDORUPDLRUTXHQmRFDXVD
DODUPHGXUDQWHRSHUDomRQRUPDOGHYHVHUXVDGR

$SFLT_ERRTYP

9DORUGHIDXOW6HRFRUUHRDODUPHGRVHUYR65926RIW)ORDWWLPHRXW6HRFRUUHRDODUPH
GHSDXVDGRSURJUDPD65926RIW)ORDWWLPHRXW 2Q~PHURGRDODUPHpGLIHUHQWHHQWUHRV
DODUPHV2YDORU defaultGHYHVHUXVDGRDPHQRVTXHRGHVOLJDPHQWRGRVHUYRDWUDLDXPD
LQFRQYHQLrQFLDQRVLVWHPD

&RQVXOWHDLQVWUXomRGRteach pendant)2//2:83QD6HomRSDUDPDLVLQIRUPDo}HV
VREUHRSURFHVVDPHQWRGHIROORZXS

4XDQGRDIXQomRSoft FloatHVWiDWLYDRSURFHVVDPHQWRGHIROORZXSpQRUPDOPHQWHH[HFXWDGRSDUD
LQVWUXo}HVGHPRYLPHQWRLQGLYLGXDO(VVHSURFHVVDPHQWRpDWLYDGRRXGHVDWLYDGRGHDFRUGRFRPD
YDULiYHOGHVLVWHPD6)/7B',6)83

$SFLT_DISFUP

9DORUGHIDXOW )$/6(

• 6H)$/6(RIROORZXSpH[HFXWDGRQRLQtFLRGHFDGDLQVWUXomRGHPRYLPHQWRQRSURJUDPD
• 6H758(RIROORZXSQmRpH[HFXWDGRSDUDLQVWUXo}HVGHPRYLPHQWRLQGLYLGXDOQRSURJUDPD

12.47.9.2 Variáveis de Posição Verdadeira



4XDQGRSoft FloatHVWiDWLYDRVGDGRVSRVLFLRQDLVTXHVmRH[LELGRVVmRDSRVLomRFRPDQGDGDGR
URE{$SRVLomRYHUGDGHLUDGRURE{SRGHVHUPXLWRGLIHUHQWHGHYLGRDIRUoDVTXHVmRDSOLFDGDVDR
URE{2VHJXLQWHFRQMXQWRGHYDULiYHLVSHUPLWHYHUDUHDOSRVLomRGHSXOVRVGDPiTXLQDGRURE{$
SRVLomRGHSXOVRVGDPiTXLQDpDSRVLomRDWXDOGRURE{QmRDSRVLomRFRPDQGDGDFRPEDVHQD
ORFDOL]DomRGDXQLGDGHPHFkQLFDTXHpGHWHUPLQDGDDWUDYpVGRVSXOVRVGRHQFRGHUPiTXLQD(VVDV
YDULiYHLVH[LELUmRXPDYDULHGDGHGHYDORUHV~WHLVHVmRGHVFULWDVDEDL[R9HU
6&5B*53>Q@'326B'67([DPSOHFRPRXPH[HPSORGHFRPRYRFrSRGHH[DPLQHUXPDGDV
YDULiYHLVSDUDGHWHUPLQDUVHR7&3GRURE{HVWiGHQWURGHXPDGDGDWROHUkQFLD

12–552
MAROBHT8304141P REV B 12. FUNÇÕES AVANÇADAS

$SCR_GRP[ ].$m_pos_enb

(VWDFKDYHDWLYDDIXQomRGHSRVLomRDWXDODSDUWLUGHSXOVRGDPiTXLQD

7UXH $WLYD

)DOVH 'HVDWLYD

4XDQGRHVWiDWLYDRkQJXORGH$UWLFXODomRHRVGDGRV[\H]GDSRVLomRGR7&3VmRFRSLDGRV
SDUDPFKBDQJ>@ HPFKBSRV

Nota (VWDYDULiYHOGHYHVHUGHILQLGDHPtrueSDUDID]HUXVRGHTXDLVTXHUGDVRXWUDVYDULiYHLV

Nota 4XDQGR6&5B*53>@PBSRVBHQE 758(RV/LPLWHVGR(L[RVHUmRUHIRUoDGRVHQTXDQWR

QRPRGRSoft Float &RQVXOWHD6HomR

$SCR_GRP[ ].$mch_ang[ ]

(VWDYDULiYHOH[LEHDSRVLomRDWXDOGDDUWLFXODomRDSDUWLUGRSXOVRGDPiTXLQD4XDQGR0B326B(1%
7PFKBDQJ>@VHUiFRQWLQXDPHQWHDWXDOL]DGD

$SCR_GRP[ ]$mch_pos

(VWDYDULiYHOH[LEHDSRVLomRDWXDO[\]ZSHUGR7&3DSDUWLUGRSXOVRGDPiTXLQD4XDQGR
PBSRVBHQE 7HRPRYLPHQWRGRURE{pH[HFXWDGRHODGHILQHDSRVLomRDWXDOGR7&3

$SCR_GRP[ ].$dpos_dst

(VWDYDULiYHOH[LEHDSRVLomRGDdistância para o destino4XDQGRPBSRVBHQE 7DGLVWkQFLD

HQWUHDSRVLomRGRSXOVRGDPiTXLQDHDSRVLomRGHGHVWLQRGRSURJUDPDpGHILQLGDGXUDQWH
PRYLPHQWRSURJUDPDGR(PFRQGLo}HVQRUPDLVHVWHQ~PHURVHDSUR[LPDUiGH]HURFRQIRUPHHOHVH
DSUR[LPDGRSRQWRHQVLQDGR&RPSoft FloatHVWHYDORUSRGHQXQFDDOFDQoDU]HURHSRGHVHUXDGR
SDUDGHWHUPLQDUTXmRSUy[LPRR7&3HVWiUHDOPHQWHGDSRVLomRHQVLQDGD

Exemplo $SCR_GRP[n].$DPOS_DST 

 /%/>@
 /35>@PPVHF),1(6RIW)ORDW>@
 :$,7 VHF
 $OORZIRUDQ\VHWWOLQJ
 ,)6&5B*53>@'326B'67! -03/%/>@
 &RPSDUHGLVWDQFHZLWKWROHUDQFH
 / 3>@ PPVHF ),1(
 6RIW )ORDW (1'
 -3>@),1(
 -03/%>@
 /%/>@
 7&3LVRXWRIWROHUDQFH
 8$/0>@

12–553

12. FUNÇÕES AVANÇADAS MAROBHT8304141P REV B




12.47.9.3 Verificação de Limite do Eixo em Soft Float

(QTXDQWRQRPRGRSoft FloatRURE{SRGHPRYHUVHRXVHUPRYLGRSDVVDQGRRVOLPLWHVGRVRIWZDUH
GRHL[RSRUdefault2PRYLPHQWRGRSURJUDPDDOpPGRVOLPLWHVGRHL[RQXQFDpSHUPLWLGR

'HILQLQGR6&5B*53>@PBSRVBHQE 758(RVOLPLWHVGRURE{VHUmRYHULILFDGRVHQTXDQWRQR
PRGR6RIW)ORDW4XDQGRRURE{H[FHGHRVOLPLWHVGRVRIWZDUHVHUiPRVWUDGRRVHJXLQWHDODUPH


6592$[LV/LPLW([FHHGHG*[$\



4XDQGRHVWHDODUPHRFRUUHRURE{WHUiTXHVHUPRYLGRHPMRJUHYHUVRGHQWURGRVOLPLWHVGRHL[RDQWHV
GHUHWRPDU


 FUNÇÃO DE VERIFICAÇÃO DE ESPAÇO (OPÇÃO)
$IXQomRGHYHULILFDomRGRHVSDoRLQFRUSRUDGDDRURE{PRQLWRUDXPiUHDGHLQWHUIHUrQFLD
SUHGHWHUPLQDGDHVSDoR4XDQGRRXWURURE{RXXPDXQLGDGHSHULIpULFDHVWiORFDOL]DGDGHQWURGHVVH
HVSDoRDIXQomRLQWHUURPSHDRSHUDomRGRURE{VHHOHHVWiVHQGRFRPDQGDGRSDUDPRYHUGHQWUR
GHVVHHVSDoR9HU)LJXUD±$IXQomRGHYHULILFDomRGHHVSDoROLEHUDRHVWDGRGHSDUDGDH
SHUPLWHTXHDRSHUDomRGRURE{FRQWLQXHDSHQDVDSyVYHULILFDUTXHRRXWURURE{RXXQLGDGH
SHULIpULFDWHQKDVHPRYLGRIRUDGDiUHD9HU)LJXUD±

 12–554