Rainbow Robotics RB Series, Руководство пользователя

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RAINBOW ROBOTICS
RB SERIES _ USER MANUAL
© RAINBOW ROBOTICS Inc. All rights reserved.
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Function
MoveCircle_ThreePoint(int type, float x1, float y1, float z1,
float rx1, float ry1, float rz1, float x2, float y2, float z2, float rx2,
float ry2, float rz2, float spd = -1, float acc = -1);
Script
“movecircle threepoints intended spd, acc, x1, y1, z1, rx1, ry1,
rz1, x2, y2, z2, rx2, ry2, rz2”
“movecircle threepoints constant spd, acc, x1, y1, z1, rx1, ry1,
rz1, x2, y2, z2, rx2, ry2, rz2”
“movecircle threepoints radial spd, acc, x1, y1, z1, rx1, ry1, rz1,
x2, y2, z2, rx2, ry2, rz2”
Descript.
This command generates the circular motion of TCP using
three points.
type=0 : ‘intended’ in script programming
type=1 : ‘constant’ in script programming
type=2 : ‘radial’ in script programming
Please refer to script programming.
Function MoveCircle_Axis(int type, float cx, float cy, float cz, float ax,
float ay, float az, float rot_angle, float spd = -1, float acc = -1);
Script
“movecircle axis intended spd, acc, rot_angle, cx, cy, cz, ax, ay,
az”
“movecircle axis constant spd, acc, rot_angle, cx, cy, cz, ax, ay,
az”
“movecircle axis radial spd, acc, rot_angle, cx, cy, cz, ax, ay, az”
Descript.
This command generates the circular motion of TCP using
axes of rotation defined.
type=0 : ‘intended’ in script programming
type=1 : ‘constant’ in script programming
type=2 : ‘radial’ in script programming
Please refer to script programming.