MOTOROLA 84-W8403F01D處理器模塊
您可以啟動程序編輯器。請參見第121頁的使用RAPID編輯器。碰撞檢測檢查機(jī)器人或工具是否與周圍設(shè)備或固定裝置發(fā)生碰撞。如果是，請調(diào)整放置或方向，直到?jīng)]有發(fā)生碰撞。請參見第127頁的檢測碰撞。測試程序通過沿著路徑移動來測試程序。創(chuàng)建工作對象工作對象是用于描述工件位置的坐標(biāo)系。工作對象由兩個框架組成：用戶框架和對象框架。所有編程位置都將與對象框架相關(guān)，對象框架與用戶框架相關(guān)，用戶框架與世界坐標(biāo)系相關(guān)。修改工作對象有關(guān)程序，請參見第408頁的修改工作對象。將框架轉(zhuǎn)換為工作對象您可以從現(xiàn)有框架創(chuàng)建新的工作對象。轉(zhuǎn)換后的工作對象獲得與選定幀相同的名稱和位置。有關(guān)步驟，請參見第382頁的“將幀轉(zhuǎn)換為訓(xùn)練對象”。通過點創(chuàng)建幀可以通過指定坐標(biāo)系軸上的點并讓RobotStudio計算幀原點的位置和方向來創(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.
