UR官方培训课程讲课文档.pptVIP

Force type: Motion Features TCP motion in X-axis of task frame Task frame changes during runtime Y-axis perpendicular to TCP motion X-axis not compliant Teach mode not applicable 第二十九页，共49页。 Position variables Definition of position variable pose_var = p[ x , y , z , rx , ry , rz ] variable name linear coord’s rotation 第三十页，共49页。 Features Default features User defined features Base Base coordinate system Tool Tool coordinate system Point Line Plane 第三十一页，共49页。 URscript language Script code Single line script Script file 第三十二页，共49页。 Electrical interfaces Master