A-B 1394-SJT10-C-RL數(shù)字伺服控制器
要為路徑中的所有目標(biāo)設(shè)置配置，請參閱第379頁的自動配置。要為單個目標(biāo)設(shè)置配置，請參閱第381頁的配置。反向路徑反向路徑命令更改路徑中目標(biāo)的順序，以便機(jī)器人從最后一個目標(biāo)移動到第一個目標(biāo)。反轉(zhuǎn)路徑時，可以單獨(dú)反轉(zhuǎn)目標(biāo)序列，也可以反轉(zhuǎn)整個運(yùn)動過程。有關(guān)程序，請參見第416頁的反向路徑。注意！反轉(zhuǎn)路徑時，將刪除原始路徑。如果你想保留它們，請?jiān)诜崔D(zhuǎn)之前復(fù)制。注意！反轉(zhuǎn)路徑時，只處理移動指令。如果存在操作指令，則必須在反轉(zhuǎn)后手動插入。旋轉(zhuǎn)路徑使用旋轉(zhuǎn)路徑命令，您可以旋轉(zhuǎn)完整的路徑，并相應(yīng)地移動路徑使用的目標(biāo)。旋轉(zhuǎn)路徑時，包含的目標(biāo)將丟失其軸配置（如果已指定）。在啟動旋轉(zhuǎn)路徑命令之前，框架或目標(biāo)必須位于要旋轉(zhuǎn)的位置。有關(guān)過程，請參見第418頁的旋轉(zhuǎn)路徑。平移路徑平移路徑功能移動路徑和所有包含的目標(biāo)。有關(guān)步驟，請參見第423頁的“轉(zhuǎn)換路徑”。補(bǔ)償?shù)毒甙霃降穆窂娇梢云坡窂剑蛊溲a(bǔ)償旋轉(zhuǎn)刀具的半徑。由于路徑中的目標(biāo)已移動，因此它們將丟失其軸配置（如果已指定）。
To set a configuration for all targets in a path, see Auto Configuration on page 379.
To set a configuration for a single target, see Configurations on page 381.
Reversing paths
The reverse path commands change the sequence of targets in the path so that the robot moves
from the last target to the first. When reversing paths, you can reverse either the target
sequence alone or the entire motion process.
For procedures, see Reverse Path on page 416.
NOTE!
When reversing paths, the original paths are deleted. If you want to keep them, make copies
before reversal.
NOTE!
When reversing paths, only move instructions are handled. Action instructions, if any exist,
have to be inserted manually after the reversal.Rotating paths
With the rotate path command you can rotate complete paths and move the targets used by
the paths accordingly. When rotating paths, the included targets will lose their axis
configurations, if any have been assigned.
A frame or target must exist at the position to rotate around before starting the rotate path
command.
For a procedure, see Rotate Path on page 418.
Translating a path
The translate path function moves a path and all included targets.
For a procedure, see Translate Path on page 423.
Compensating paths for tool radius
You can offset a path so that it compensates for the radius of a rotating tool. Since the targets
in the path are moved, they will lose their axis configurations, if any have been assigned.
