108 lines
2.5 KiB
Python
108 lines
2.5 KiB
Python
from fairino import Robot
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import time
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# 与机器人控制器建立连接,连接成功返回一个机器人对象
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robot = Robot.RPC('192.168.58.2')
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# 机器人单轴点动
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robot.StartJOG(0,1,0,20.0,20.0,30.0) # 单关节运动,StartJOG为非阻塞指令,运动状态下接收其他运动指令(包含StartJOG)会被丢弃
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time.sleep(1)
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#机器人单轴点动减速停止
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# ret = robot.StopJOG(1)
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# print(ret)
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#机器人单轴点动立即停止
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robot.ImmStopJOG()
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robot.StartJOG(0,2,1,20.0)
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time.sleep(1)
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robot.ImmStopJOG()
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robot.StartJOG(0,3,1,20.0)
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time.sleep(1)
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robot.ImmStopJOG()
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robot.StartJOG(0,4,1,20.0,vel=40)
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time.sleep(1)
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robot.ImmStopJOG()
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robot.StartJOG(0,5,1,20.0,acc=50)
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time.sleep(1)
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robot.ImmStopJOG()
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robot.StartJOG(0,6,1,20.0,20.0,30.0)
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time.sleep(1)
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robot.ImmStopJOG()
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# 基坐标
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robot.StartJOG(2,1,0,20.0) #基坐标系下点动
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time.sleep(1)
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#机器人单轴点动减速停止
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# Robot.StopJOG(3)
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# #机器人单轴点动立即停止
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robot.ImmStopJOG()
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robot.StartJOG(2,1,1,20.0)
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time.sleep(1)
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robot.ImmStopJOG()
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robot.StartJOG(2,2,1,20.0)
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time.sleep(1)
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robot.ImmStopJOG()
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robot.StartJOG(2,3,1,20.0)
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time.sleep(1)
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robot.ImmStopJOG()
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robot.StartJOG(2,4,1,20.0)
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time.sleep(1)
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robot.ImmStopJOG()
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robot.StartJOG(2,5,1,20.0)
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time.sleep(1)
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robot.ImmStopJOG()
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robot.StartJOG(2,6,1,20.0)
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time.sleep(1)
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robot.ImmStopJOG()
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# 工具坐标
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robot.StartJOG(4,1,0,20.0,20.0,100.0) #工具坐标系下点动
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time.sleep(1)
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#机器人单轴点动减速停止
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# Robot.StopJOG(5)
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# #机器人单轴点动立即停止
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robot.ImmStopJOG()
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robot.StartJOG(4,1,1,20.0)
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time.sleep(1)
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robot.ImmStopJOG()
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robot.StartJOG(4,2,1,20.0)
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time.sleep(1)
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robot.ImmStopJOG()
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robot.StartJOG(4,3,1,20.0)
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time.sleep(1)
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robot.ImmStopJOG()
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robot.StartJOG(4,4,1,20.0,20.0,100.0)
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time.sleep(1)
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robot.ImmStopJOG()
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robot.StartJOG(4,5,1,20.0,vel=10.0,acc=20.0)
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time.sleep(1)
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robot.ImmStopJOG()
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robot.StartJOG(4,6,1,20.0,acc=40.0)
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time.sleep(1)
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robot.ImmStopJOG()
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# 工件坐标
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robot.StartJOG(8,1,0,20.0,20.0,100.0) #工件坐标系下点动
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time.sleep(1)
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#机器人单轴点动减速停止
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# Robot.StopJOG(9)
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# #机器人单轴点动立即停止
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robot.ImmStopJOG()
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robot.StartJOG(8,1,1,20.0)
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time.sleep(1)
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robot.ImmStopJOG()
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robot.StartJOG(8,2,1,20.0)
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time.sleep(1)
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robot.ImmStopJOG()
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robot.StartJOG(8,3,1,20.0)
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time.sleep(1)
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robot.ImmStopJOG()
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robot.StartJOG(8,4,1,20.0)
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time.sleep(1)
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robot.ImmStopJOG()
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robot.StartJOG(8,5,1,20.0,vel=30.0)
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time.sleep(1)
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robot.ImmStopJOG()
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robot.StartJOG(8,6,1,20.0,20.0,acc=90.0)
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time.sleep(1)
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robot.ImmStopJOG()
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