A-B 1394-SJT10-C-RL数字伺服控制器
要为路径中的所有目标设置配置，请参阅第379页的自动配置。要为单个目标设置配置，请参阅第381页的配置。反向路径反向路径命令更改路径中目标的顺序，以便机器人从最后一个目标移动到第一个目标。反转路径时，可以单独反转目标序列，也可以反转整个运动过程。有关程序，请参见第416页的反向路径。注意！反转路径时，将删除原始路径。如果你想保留它们，请在反转之前复制。注意！反转路径时，只处理移动指令。如果存在操作指令，则必须在反转后手动插入。旋转路径使用旋转路径命令，您可以旋转完整的路径，并相应地移动路径使用的目标。旋转路径时，包含的目标将丢失其轴配置（如果已指定）。在启动旋转路径命令之前，框架或目标必须位于要旋转的位置。有关过程，请参见第418页的旋转路径。平移路径平移路径功能移动路径和所有包含的目标。有关步骤，请参见第423页的“转换路径”。补偿刀具半径的路径可以偏移路径，使其补偿旋转刀具的半径。由于路径中的目标已移动，因此它们将丢失其轴配置（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.
