81
The above coordinate variables have customized coordinate type--- P point, and the joint
coordinate JR and Cartesian coordinate LR of the register;
19.1.2 Coordinate type
Define a variable P[1] point, articulated coordinate, the meaning is as follows
：
P[1]{GP:0,UF:-1,UT:-1,JNT:[-0.0, -90.0, 180.0, 0.001, 90.0, 0.0, 0.0, 0.0, 0.0]};
Define a variable P[1] point, articulated coordinate, the meaning is as follows
：
P[2]{GP:0,UF:-1,UT:-1,CFG:[0,0,0,0,0,1],LOC:[530.0, -313.0, 500.0, 179.999, 0.0, 179.999,
0.0, 0.0, 0.0]};
19.1.3 The main program calls other programs
The main program calls other programs, the syntax is: CALL "program name", the program is
executed here, call the subprogram, execute the program content of the subprogram, after the
execution, return to the main program to continue execution (flow control, see details in 2.3 Process
control instructions). [The interface program of the teach pendant is shown below]
GP:
axes group
UF:
Workpiece number
UT:
Tool number
JNT:
Joint
coordinates
6 internal axes+3
external axes
GP:
axes group
UF:
Workpiece number
、
UT:
Tool number
CFG:
Morphology
LOC
: Cartesian coordinates
6 internal axes + 3 external
expansion axes
6
个内部轴
+3
个外部拓展
轴
<program>
LBL[1]
J P[1] VEL=50
L P[2] VEL=50
C JR[1] LR[1] VEL=50
GOTO LBL[1]
<end>
Main program:
add sentence block