Rainbow Robotics RB Series, Руководство пользователя

Страница: 393 / 440

RAINBOW ROBOTICS
RB SERIES _ USER MANUAL
© RAINBOW ROBOTICS Inc. All rights reserved.
393
The input values for rx1, ry1, rz1 are used to define the
relative orientation of TCP at mid-point in Euler angle in
respect to the center of the circle. It is a number in degree.
The input values for x2, y2, z2 are used to define the relative
position of TCP at end-point from the center of the circle. It is
a number in mm.
The input values for rx1, ry1, rz1 are used to define the
relative orientation of TCP at end-point in Euler angle in
respect to the center of the circle. It is a number in degree.
The input values for spd and acc are used to define velocity
and acceleration respectively. The spd and acc should be a
number between 0 and 1. Smaller number represents slower.
When the input value is -1, the joint moves with the default
value.
This command will be ignored if the previous command is
not finished yet.
Example
“movecircle threepoints intended 0.4, 0.1, 100.0, 100.0, 300.0,
0.0, 90.0, 0.0, 200.0, 200.0, 200.0, 0.0, 90.0, 45.0”
“movecircle threepoints constant 0.4, 0.1, 100.0, 100.0, 300.0,
0.0, 90.0, 0.0, 200.0, 200.0, 200.0, 0.0, 90.0, 45.0”
“movecircle threepoints radial 0.4, 0.1, 100.0, 100.0, 300.0,
0.0, 90.0, 0.0, 200.0, 200.0, 200.0, 0.0, 90.0, 45.0”