MOTOROLA 84-W8403F01D處理器模塊
您可以啟動(dòng)程序編輯器。請參見(jiàn)第121頁(yè)的使用RAPID編輯器。碰撞檢測檢查機器人或工具是否與周?chē)O備或固定裝置發(fā)生碰撞。如果是，請調整放置或方向，直到?jīng)]有發(fā)生碰撞。請參見(jiàn)第127頁(yè)的檢測碰撞。測試程序通過(guò)沿著(zhù)路徑移動(dòng)來(lái)測試程序。創(chuàng )建工作對象工作對象是用于描述工件位置的坐標系。工作對象由兩個(gè)框架組成：用戶(hù)框架和對象框架。所有編程位置都將與對象框架相關(guān)，對象框架與用戶(hù)框架相關(guān)，用戶(hù)框架與世界坐標系相關(guān)。修改工作對象有關(guān)程序，請參見(jiàn)第408頁(yè)的修改工作對象。將框架轉換為工作對象您可以從現有框架創(chuàng )建新的工作對象。轉換后的工作對象獲得與選定幀相同的名稱(chēng)和位置。有關(guān)步驟，請參見(jiàn)第382頁(yè)的“將幀轉換為訓練對象”。通過(guò)點(diǎn)創(chuàng )建幀可以通過(guò)指定坐標系軸上的點(diǎn)并讓RobotStudio計算幀原點(diǎn)的位置和方向來(lái)創(chuàng )建幀。
you can start the Program Editor. See Using the RAPID
editor on page 121.
Collision detection Check that the robot or tool does not collide with the
surrounding equipment or the fixtures. If it does, adjust the
placements or orientations until no collisions occur. See
Detecting collisions on page 127.
Test the program Test the program by moving along the paths.Creating a workobject
A workobject is a coordinate system used to describe the position of a work piece. The
workobject consists of two frames: a user frame and an object frame. All programed positions
will be related to the object frame, which is related to the user frame, which is related to the
world coordinate system.Modifying a workobject
For a procedure, see Modify Workobject on page 408.
Converting a frame to a workobject
You can create a new workobject from an existing frame. The converted workobject gets the
same name and position as the selected frame.
For a procedure, see Convert Frame to Workobject on page 382.
Creating a frame by points
You can create a frame by specfiying points on the axes of the coordinate system and letting
RobotStudio calulate the placement and orientation of the frame’s origin.
