matlab rdk,离线编程

最新推荐文章于 2024-07-11 10:01:49 发布

ZeroCool

最新推荐文章于 2024-07-11 10:01:49 发布

阅读量97

点赞数

文章标签： matlab rdk

MODULE MOD_Weld_Hexagon

PERS wobjdata rdkWObj := [FALSE, TRUE, "", [[0,0,0],[1,0,0,0]],[[0,0,0],[1,0,0,0]];

PERS tooldata rdkTool := [TRUE,[[0,0,0],[1,0,0,0]],[3,[0,0,200],[1,0,0,0],0,0,0.005]];

VAR speeddata rdkSpeed := [500,500,500,500];

VAR extjoint rdkExtax := [9E9,9E9,9E9,9E9,9E9,9E9];

PROC Weld_Hexagon()

!Program generated by RoboDK for ABB IRB 1600ID-4/1.5 on 29/11/2014 17:42:31

ConfJ \On;

ConfL \On;

rdkWObj.oframe:=[0,0,0],[1,0,0,0];

rdkWObj.uframe:=[0,0,0],[1,0,0,0];

rdkTool.tframe:=[-4,0,371.3],[0.92387953,0,0.38268343,0];

MoveAbsJ [[-0,-19.143793,-7.978668,0,49.189506,-0]],rdkExtax], rdkSpeed, rdkZone, rdkTool, \WObj:=rdkWObj;

MoveJ [[1010.634,-114.491,662.29],[0,0,1,0],[-1,0,-1,0],rdkExtax], rdkSpeed, rdkZone, rdkTool, \WObj:=rdkWObj;

WeldStart;

MoveL [[810.634,-114.491,662.29],[0,0,1,0],[-1,0,-1,0],rdkExtax], rdkSpeed, rdkZone, rdkTool, \WObj:=rdkWObj;

MoveL [[910.634,58.715,662.29],[0,0,1,0.00000001],[0,-1,0,0],rdkExtax], rdkSpeed, rdkZone, rdkTool, \WObj:=rdkWObj;

MoveL [[1110.634,58.715,662.29],[0,0,1,0],[0,-1,0,0],rdkExtax], rdkSpeed, rdkZone, rdkTool, \WObj:=rdkWObj;

MoveL [[1210.634,-114.491,662.29],[0,0,1,0],[-1,0,-1,0],rdkExtax], rdkSpeed, rdkZone, rdkTool, \WObj:=rdkWObj;

MoveL [[1110.634,-287.696,662.29],[0,0,1,0],[-1,0,-1,0],rdkExtax], rdkSpeed, rdkZone, rdkTool, \WObj:=rdkWObj;

MoveL [[910.634,-287.696,662.29],[0,0,1,0],[-1,0,-1,0],rdkExtax], rdkSpeed, rdkZone, rdkTool, \WObj:=rdkWObj;

MoveL [[810.634,-114.491,662.29],[0,0,1,0],[-1,0,-1,0],rdkExtax], rdkSpeed, rdkZone, rdkTool, \WObj:=rdkWObj;

WeldStop;

MoveL [[1010.634,-114.491,662.29],[0,0,1,0],[-1,0,-1,0],rdkExtax], rdkSpeed, rdkZone, rdkTool, \WObj:=rdkWObj;

MoveAbsJ [[-0,-19.143793,-7.978668,0,49.189506,-0]],rdkExtax], rdkSpeed, rdkZone, rdkTool, \WObj:=rdkWObj;

ConfJ \On;

ConfL \On;

ENDPROC

ENDMODULE

关注