川崎机器人程序（国外英文资料）.doc

川崎机器人程序（国外英文资料） PROGRAM a.s hijiao () # 0 ; Teaching program 100 ALWAYS SPEED ACCURACY of 1 ALWAYS JMOVE ho; The origin JMOVE picaj_t; Grab the position a, a, and a, the starting point JMOVE picao_t; Grab position a even starting point JMOVE picbj_t; Grab position b odd layer starting point JMOVE picbo_t; Grab position b even starting point JMOVE piccj_t; Grab position c, odd layer starting point JMOVE picco_t; Grab position c even starting point JMOVE picdj_t; Grab position d odd layer starting point JMOVE picdo_t; Grab position d even starting point JMOVE puta; Place the point a JMOVE putb; Put some b JMOVE putc; Placed at c JMOVE putd; Put some d JMOVE gen. Avoid reference height POINT putaw = SHIFT (puta BY 0, 0, 100); Lets put a point a here POINT putbw = SHIFT (putb BY 0, 0, 100); Put a point b ready POINT putcw = SHIFT (putc BY 0, 0, 100) Put the point c in there POINT putdw = SHIFT (putd BY 0, 0, 100) Put the d in JMOVE putaq1; JMOVE putaq2; Put a point on the tipping point JMOVE putbq1; JMOVE putbq2; Put the b point dumping point JMOVE putcq1; JMOVE putcq2; Place the c point dump JMOVE putdq1; JMOVE putdq2; Place d at the tipping point CALL pointsa_t; Grab position a and compute it CALL pointsb_t; Grab position b for each point CALL pointsc_t; Grab position c for each point CALL pointsd_t; Grab position d to compute The END PROGRAM init () # 172661 ; System parameter setting CHECK. HOLD OFF The CP ON CYCLE. The STOP OFF The MESSAGES ON OX. PREOUT ON PREFETCH. SIGINS OFF QTOOL OFF RPS ON SCREEN ON REP_ONCE OFF STP_ONCE OFF AUTOSTART. PC OFF AUTOSTART2. PC OFF AUTOSTART3. PC OFF AUTOSTART4. PC OFF AUTOSTART5. PC OFF ERRSTART. PC OFF DISPIO_01 OFF AFTER. WAIT. TMR ON ZREP2_TOPPEN ON Ca = 0 Ca0 = 0 Cb = 0 Cb0 = 0 Cc = 0 Cc0 = 0 CD = 0 Cd0 = 0 WEIGHT 170,0,0,450 The acc = 100 Acc1 = 1 Sp1 = 10 Sp3 = 30 Sp5 = 50 Sp8 = 80 Tim = 1 Tim1 = 0.5 The END PROGRAM, a.a. () # 0 ; The main program 100 ALWAYS SPEED 500 ALWAYS ACCURACY SIGNAL - 9; Chuck close HERE the tt POIN