ABB B5EC HENF105077R1控制冗余通道卡件
路径一系列移动指令，路径用于使机器人沿着一系列目标移动。路径在与虚拟控制器同步时转换为过程。移动指令移动指令包括：•对目标的引用•运动数据，如运动类型、速度和区域•对工具数据的引用•工作对象引用动作指令动作指令是一个RAPID字符串，可用于设置和更改参数。动作指令可以在路径中的指令目标之前、之后或之间插入。概述本节简要介绍了通常用于离线编程的坐标系。在RobotStudio中，您可以使用下面描述的所有坐标系以及用户定义的坐标系来将对象和元素相互关联。层次坐标系在层次上相互关联，其中每个坐标系的原点定义为其祖先中的一个位置。以下是从层次结构顶部开始的常用坐标系的描述
Paths
A sequence of move instructions, paths are used to make the robot move along a sequence of
targets.
Paths are converted to procedures when synchronized to the virtual controller.
Move instructions
A move instruction consists of:
• a reference to a target
• motion data, such as motion type, speed and zone
• a reference to a tooldata
• a workobject reference
Action instructions
An action instruction is a RAPID string that can be used for setting and changing parameters.
Action instructions can be inserted before, after or between instruction targets in paths.Overview
This section gives a short introduction to coordinate systems that are often used for offline
programming. In RobotStudio, you can use all coordinate systems described below, as well
as user-defined coordinate systems, for relating objects and elements to each other.
Hierarchy
The coordinate systems relate to each other hierarchically, where the origin of each
coordinate system is defined as a position in one of its ancestries. Below are descriptions of
commonly used coordinate systems, starting at the top of the hierarchy
