MOTOROLA 84-W8403F01D处理器模块
您可以启动程序编辑器。请参见第121页的使用RAPID编辑器。碰撞检测检查机器人或工具是否与周围设备或固定装置发生碰撞。如果是，请调整放置或方向，直到没有发生碰撞。请参见第127页的检测碰撞。测试程序通过沿着路径移动来测试程序。创建工作对象工作对象是用于描述工件位置的坐标系。工作对象由两个框架组成：用户框架和对象框架。所有编程位置都将与对象框架相关，对象框架与用户框架相关，用户框架与世界坐标系相关。修改工作对象有关程序，请参见第408页的修改工作对象。将框架转换为工作对象您可以从现有框架创建新的工作对象。转换后的工作对象获得与选定帧相同的名称和位置。有关步骤，请参见第382页的“将帧转换为训练对象”。通过点创建帧可以通过指定坐标系轴上的点并让RobotStudio计算帧原点的位置和方向来创建帧。
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.
