18 lines
729 B
Python
18 lines
729 B
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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# P1=[-321.821, 125.694, 282.556, 174.106, -15.599, 152.669]
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name = 'tpd2023' #轨迹名
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blend = 1 #是否平滑,1-平滑,0-不平滑
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ovl = 100.0 #速度缩放
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ret = robot.LoadTPD(name) #轨迹预加载
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print("轨迹预加载错误码",ret)
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ret,P1 = robot.GetTPDStartPose(name) #获取轨迹起始位姿
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print ("获取轨迹起始位姿错误码",ret,"起始位姿",P1)
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ret = robot.MoveL(P1,0,0) #运动到起始点
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print("运动到起始点错误码",ret)
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time.sleep(10)
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ret = robot.MoveTPD(name, blend, ovl) #轨迹复现
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print("轨迹复现错误码",ret)
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