机器人打包教程

将机器人打包程序导入系统并根据程序注释逐步操作,运行程序前必须确认以下两点:

1、请确认程序与机型匹配

2、机器归于正确零位且拆除负载

EC63打包程序

C00000=89.9995,-90.0000,0.0000,-89.9992,0.0004,0.0008,0.0000,0.0000
C00001=89.9992,-89.9997,146.9994,-89.9996,0.0004,0.0008,0.0000,0.0000
NOP
TPWRITE 该程序为EC63及EC63M装箱角度运行程序,运行程序前必须确认以下两点:
TPWRITE 1,请确认程序与机型匹配;2,机器归于正确零位且拆除负载
TPWRITE 机器人将回机械零位请确认没有干涉
PAUSE
MOVJ VJ=10% PL=0
TPWRITE 机器人将回到装箱角度请确认没有干涉
PAUSE
MOVJ VJ=10% PL=0
TPWRITE 机器人已处于装箱角度
PAUSE
END

EC66打包程序

C00000=89.9997,-90.0000,0.0000,-89.9992,0.0008,0.0008,0.0000,0.0000
C00001=89.9995,-89.9997,148.0028,-89.9996,0.0012,0.0004,0.0000,0.0000
NOP
TPWRITE 该程序为EC66及EC66M装箱角度运行程序,运行程序前必须确认以下两点:
TPWRITE 1,请确认程序与机型匹配;2,机器归于正确零位且拆除负载
TPWRITE 机器人将回机械零位请确认没有干涉
PAUSE
MOVJ VJ=10% PL=0
TPWRITE 机器人将回到装箱角度请确认没有干涉
PAUSE
MOVJ VJ=10% PL=0
TPWRITE 机器人已处于装箱角度
PAUSE
END

EC612打包程序

C00000=0.0000,-90.0000,0.0003,-90.0000,0.0000,0.0000,0.0000,0.0000
C00001=0.0003,-89.9995,160.0000,-79.9994,0.0003,-0.0003,0.0000,0.0000
C00002=0.0003,-169.9995,160.0000,-79.9997,0.0000,0.0000,0.0000,0.0000
NOP
TPWRITE 该程序为EC612及EC612M装箱角度运行程序,运行程序前必须确认以下两点:
TPWRITE 1,请确认程序与机型匹配;2,机器归于正确零位且拆除负载
TPWRITE 机器人将回机械零位请确认没有干涉
PAUSE
MOVJ VJ=10% PL=0
TPWRITE 机器人将回装箱角度过渡位请确认没有干涉
PAUSE
MOVJ VJ=10% PL=0
TPWRITE 机器人将回到装箱角度请确认没有干涉
PAUSE
MOVJ VJ=10% PL=0
TPWRITE 机器人已处于装箱角度
PAUSE
END
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