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hammer.script
116 lines (116 loc) · 6.25 KB
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hammer.script
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def hammer():
set_standard_analog_input_domain(0, 1)
set_standard_analog_input_domain(1, 1)
set_tool_analog_input_domain(0, 1)
set_tool_analog_input_domain(1, 1)
set_analog_outputdomain(0, 0)
set_analog_outputdomain(1, 0)
set_tool_voltage(0)
set_tcp(p[0.0,0.0,0.0,0.0,0.0,0.0])
set_payload(1.0)
set_gravity([0.0, 0.0, 9.82])
$ 1 "机器人程序"
$ 2 "MoveJ"
$ 3 "路点_17"
movej([0.370365901823857, -2.2289991843482184, -1.7740192809655255, -1.3186988333716556, 0.0696171781144832, 5.2878987190905065], a=3.490658503988659, v=1.7453292519943295)
$ 4 "路点_8"
movej([0.37045607665687635, -2.241703942880415, -1.7752746009250044, -1.3062554065586873, 0.06968404497960723, 5.289441677956182], a=3.490658503988659, v=1.7453292519943295)
$ 5 "循环 10 次数"
u24490u29615_1 = 0
while (u24490u29615_1 < 10):
$ 6 "MoveJ"
$ 7 "路点_3"
movej([0.37028065669878796, -2.260091405105971, -1.7766195223180343, -1.288574105297423, 0.06985240916170099, 5.668146566566483], a=34.906585039886586, v=3.3161255787892263)
$ 8 "路点_4"
movej([0.3704140907470448, -2.260131034702879, -1.776554711877627, -1.2886040887866521, 0.06978167295017969, 5.291527875933259], a=34.906585039886586, v=3.3161255787892263)
u24490u29615_1 = u24490u29615_1 + 1
end
$ 9 "MoveJ"
$ 10 "路点_12"
movej([0.37028065669878796, -2.260091405105971, -1.7766195223180343, -1.288574105297423, 0.06985240916170099, 5.668146566566483], a=0.8726646259971648, v=1.0471975511965976)
$ 11 "路点_18"
movej([0.3702452278924442, -2.278832030955307, -1.7773030250631408, -1.2711923992114258, 0.06980180528558311, 5.670192253523773], a=0.8726646259971648, v=1.0471975511965976)
$ 12 "等待: 5.0"
sleep(5.0)
$ 13 "循环 10 次数"
u24490u29615_2 = 0
while (u24490u29615_2 < 10):
$ 14 "MoveJ"
$ 15 "路点_2"
movej([0.3702452278924442, -2.278832030955307, -1.7773030250631408, -1.2711923992114258, 0.06980180528558311, 5.670192253523772], a=34.906585039886586, v=3.3161255787892263)
$ 16 "路点_1"
movej([0.37042509377314575, -2.278869985038284, -1.7772145306855052, -1.2713195026539452, 0.06974199330307229, 5.293572682874189], a=34.906585039886586, v=3.3161255787892263)
u24490u29615_2 = u24490u29615_2 + 1
end
$ 17 "MoveJ"
$ 18 "路点_13"
movej([0.3702452278924442, -2.278832030955307, -1.7773030250631408, -1.2711923992114258, 0.06980180528558311, 5.670192253523773], a=0.8726646259971648, v=1.0471975511965976)
$ 19 "路点_19"
movej([0.37014963324156813, -2.297796056272265, -1.7774450310798207, -1.2542672033005218, 0.06982343012185321, 5.672231844096686], a=0.8726646259971648, v=1.0471975511965976)
$ 20 "等待: 5.0"
sleep(5.0)
$ 21 "循环 10 次数"
u24490u29615_3 = 0
while (u24490u29615_3 < 10):
$ 22 "MoveJ"
$ 23 "路点_5"
movej([0.37014963324156813, -2.297796056272265, -1.7774450310798207, -1.2542672033005209, 0.06982343012185362, 5.672231844096687], a=34.906585039886586, v=3.3161255787892263)
$ 24 "路点_6"
movej([0.37043752137907376, -2.29787843423782, -1.7773139887132468, -1.2542969497246812, 0.06966789088720571, 5.295541151528116], a=34.906585039886586, v=3.3161255787892263)
u24490u29615_3 = u24490u29615_3 + 1
end
$ 25 "MoveJ"
$ 26 "路点_14"
movej([0.37014963324156813, -2.297796056272265, -1.7774450310798207, -1.2542672033005218, 0.06982343012185321, 5.672231844096686], a=0.8726646259971648, v=1.0471975511965976)
$ 27 "路点_21"
movej([0.3701140838124495, -2.3171180784853895, -1.7769289308258394, -1.2372269393226958, 0.06979691988489733, 5.674168163010795], a=0.8726646259971648, v=1.0471975511965976)
$ 28 "等待: 5.0"
sleep(5.0)
$ 29 "循环 10 次数"
u24490u29615_4 = 0
while (u24490u29615_4 < 10):
$ 30 "MoveJ"
$ 31 "路点_11"
movej([0.3701140838124495, -2.3171180784853895, -1.7769289308258402, -1.2372269393226958, 0.06979691988489735, 5.674168163010795], a=34.906585039886586, v=3.3161255787892263)
$ 32 "路点_7"
movej([0.37035432874313035, -2.3171024995566434, -1.7768950032035464, -1.2375981177856215, 0.06967771978483189, 5.297458462476897], a=34.906585039886586, v=3.3161255787892263)
u24490u29615_4 = u24490u29615_4 + 1
end
$ 33 "MoveJ"
$ 34 "路点_15"
movej([0.3701140838124495, -2.3171180784853895, -1.7769289308258394, -1.2372269393226958, 0.06979691988489733, 5.674168163010796], a=0.8726646259971648, v=1.0471975511965976)
$ 35 "路点_20"
movej([0.370140093383714, -2.3307625396374654, -1.7762691938344002, -1.2255591808038915, 0.06973481713478069, 5.6754766125151175], a=0.8726646259971648, v=1.0471975511965976)
$ 36 "等待: 5.0"
sleep(5.0)
$ 37 "循环 10 次数"
u24490u29615_5 = 0
while (u24490u29615_5 < 10):
$ 38 "MoveJ"
$ 39 "路点_9"
movej([0.370140093383714, -2.330762539637466, -1.7762691938344002, -1.2255591808038915, 0.06973481713478069, 5.6754766125151175], a=34.906585039886586, v=3.3161255787892263)
$ 40 "路点_10"
movej([0.37036819240726615, -2.33076636755075, -1.7761381391905928, -1.2260571591883132, 0.06973482122011664, 5.298791237506773], a=34.906585039886586, v=3.3161255787892263)
u24490u29615_5 = u24490u29615_5 + 1
end
$ 41 "MoveJ"
$ 42 "路点_16"
movej([0.37036819240726615, -2.33076636755075, -1.7761381391905928, -1.2260571591883132, 0.06973482122011664, 5.298791237506773], a=0.8726646259971648, v=1.0471975511965976)
$ 43 "路点_22"
movej([0.37004119336492014, -2.342529380497812, -1.775444542721889, -1.2159009400983116, 0.0697724937109927, 5.6594842381624115], a=0.8726646259971648, v=1.0471975511965976)
$ 44 "等待: 5.0"
sleep(5.0)
$ 45 "循环 20 次数"
u24490u29615_6 = 0
while (u24490u29615_6 < 20):
$ 46 "MoveJ"
$ 47 "路点_23"
movej([0.37009653963340683, -2.346487511961108, -1.775096158058263, -1.2126243064072, 0.06984316827171223, 5.659806665223842], a=34.906585039886586, v=3.3161255787892263)
$ 48 "路点_24"
movej([0.3703485639242814, -2.3464667740902705, -1.7749991885342604, -1.2132840830534306, 0.06972368572433751, 5.300211751794176], a=34.906585039886586, v=3.3161255787892263)
u24490u29615_6 = u24490u29615_6 + 1
end
$ 49 "MoveJ"
$ 50 "路点_25"
movej([0.37009653963340683, -2.346487511961108, -1.775096158058263, -1.2126243064072, 0.06984316827171223, 5.659806665223842], a=0.8726646259971648, v=1.0471975511965976)
end