40 lines
1.9 KiB
Python
40 lines
1.9 KiB
Python
from fairino import Robot
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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('192.168.3.102')
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desc_pos1 = [236.794, -475.119, 65.379, -176.938, 2.535, -179.829]
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desc_posc1 = [266.794, -455.119, 65.379, -176.938, 2.535, -179.829] # MoveC过渡点
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desc_posc2 = [286.794, -475.119, 65.379, -176.938, 2.535, -179.829] # MoveC目标点
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desc_pos2 = [236.794, -475.119, 65.379, -176.938, 2.535, -179.829]
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desc_posc3 = [256.794, -435.119, 65.379, -176.938, 2.535, -179.829] # Circle路径点
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desc_posc4 = [286.794, -475.119, 65.379, -176.938, 2.535, -179.829] # Circle目标点
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desc_pos3 = [236.794, -475.119, 65.379, -176.938, 2.535, -179.829]
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desc_pos_spiral = [236.794, -475.119, -65.379, -176.938, 2.535, -179.829] # Spiral目标点
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# 螺旋线参数[circle_num,circle_angle,rad_init,rad_add,rotaxis_add,rot_direction]
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# circle_num:螺旋圈数,circle_angle:螺旋倾角,rad_init:螺旋初始半径,rad_add:半径增量,
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# rotaxis_add:转轴方向增量,rot_direction:旋转方向,0-顺时针,1-逆时针
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param = [5.0, 10, 30, 10, 5, 0]
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tool = 0 # 工具坐标系编号
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user = 0 # 工件坐标系编号
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ret = robot.MoveL(desc_pos1, tool, user, vel=30, acc=100)
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print("笛卡尔空间直线运动:错误码", ret)
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ret = robot.MoveC(desc_posc1, tool, user, desc_posc2, tool, user) # 笛卡尔空间圆弧运动
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print("笛卡尔空间圆弧运动:错误码", ret)
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robot.MoveL(desc_pos2, tool, user, vel=40, acc=100)
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print("笛卡尔空间直线运动:错误码", ret)
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ret = robot.Circle(desc_posc3, tool, user, desc_posc4, tool, user, vel_t=40, offset_flag=1,
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offset_pos=[5, 10, 15, 0, 0, 1]) # 笛卡尔空间圆弧运动
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print("笛卡尔空间圆弧运动:错误码", ret)
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ret = robot.NewSpiral(desc_pos_spiral, tool, user, param, vel=40) # 笛卡尔空间螺旋线运动
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print("笛卡尔空间螺旋线运动:错误码", ret)
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