46 lines
1.8 KiB
Python
46 lines
1.8 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('192.168.3.102')
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desc_pos1 = [36.794, -475.119, 65.379, -176.938, 2.535, -179.829]
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desc_pos2 = [136.794, -475.119, 65.379, -176.938, 2.535, -179.829]
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desc_pos3 = [236.794, -475.119, 65.379, -176.938, 2.535, -179.829]
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joint_pos4 = [-83.24, -96.476, 93.688, -114.079, -62, -100]
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joint_pos5 = [-43.24, -70.476, 93.688, -114.079, -62, -80]
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joint_pos6 = [-83.24, -96.416, 43.188, -74.079, -80, -10]
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desc_pos7 = [236.794, -475.119, 65.379, -176.938, 2.535, -179.829]
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desc_pos8 = [236.794, -575.119, 165.379, -176.938, 2.535, -179.829]
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desc_pos9 = [236.794, -475.119, 265.379, -176.938, 2.535, -179.829]
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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) # 笛卡尔空间直线运动
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print("笛卡尔空间直线运动点1:错误码", ret)
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robot.MoveL(desc_pos2, tool, user, vel=30, acc=100)
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print("笛卡尔空间直线运动点2:错误码", ret)
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robot.MoveL(desc_pos3, tool, user, offset_flag=1, offset_pos=[10, 10, 10, 0, 0, 0])
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print("笛卡尔空间直线运动点3:错误码", ret)
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ret = robot.MoveJ(joint_pos4, tool, user, vel=30) # 关节空间运动
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print("关节空间运动点4:错误码", ret)
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ret = robot.MoveJ(joint_pos5, tool, user)
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print("关节空间运动点5:错误码", ret)
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robot.MoveJ(joint_pos6, tool, user, offset_flag=1, offset_pos=[10, 10, 10, 0, 0, 0])
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print("关节空间运动点6:错误码", ret)
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robot.MoveCart(desc_pos7, tool, user)
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print("笛卡尔空间点到点运动点7:错误码", ret)
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robot.MoveCart(desc_pos8, tool, user, vel=30)
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print("笛卡尔空间点到点运动点8:错误码", ret)
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robot.MoveCart(desc_pos9, tool, user, )
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print("笛卡尔空间点到点运动点9:错误码", ret)
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