2024年3月20日发(作者：寿紫萱)

ABB

sJ

RAPID-

MoveAbsJ

l

l

MoveAbsJ

TCP

IR6400C

T_ROB1

207

1MoveAbsJ p50, v1000, z50, tool2;

tool2

2MoveAbsJ *, v1000T:=5, fine, grip3;

grip3

*5

p50v1000zonez50

MoveAbsJ [Conc] ToJointPos [ID] [NoEOffs] Speed [V] | [T] Zone [Z] [Inpos] Tool [Wobj]

[Conc]:

switch

Conc

Conc

ToJointPos

5StorePath-RestoPath

zone

by

ToJointPos

jointtarget

*

[ID]

ID

identno

ID

[NoEOffs]

IDroutine

switch

NoEOffs

Speed

speeddata

TCP

[V]

1MoveAbsJ

num

TCP

[T]

mm/s

num

Zone

zonedata

zone

[z ]

Zone

by

Zone

2024年3月20日发(作者：寿紫萱)

ABB

sJ

RAPID-

MoveAbsJ

l

l

MoveAbsJ

TCP

IR6400C

T_ROB1

207

1MoveAbsJ p50, v1000, z50, tool2;

tool2

2MoveAbsJ *, v1000T:=5, fine, grip3;

grip3

*5

p50v1000zonez50

MoveAbsJ [Conc] ToJointPos [ID] [NoEOffs] Speed [V] | [T] Zone [Z] [Inpos] Tool [Wobj]

[Conc]:

switch

Conc

Conc

ToJointPos

5StorePath-RestoPath

zone

by

ToJointPos

jointtarget

*

[ID]

ID

identno

ID

[NoEOffs]

IDroutine

switch

NoEOffs

Speed

speeddata

TCP

[V]

1MoveAbsJ

num

TCP

[T]

mm/s

num

Zone

zonedata

zone

[z ]

Zone

by

Zone