important; overflow-wrap: break-word !important;">PROCMoveAxis(num Axis,num Angle,num speed)important; overflow-wrap: break-word !important;">
important; overflow-wrap: break-word !important;">!要单轴运动的轴,该轴要走到的***位置角度，运动速度 °/simportant; overflow-wrap: break-word !important;">VAR jointtarget jtmp:=[[0,0,0,0,0,0],[9E9,9E9,9E9,9E9,9E9,9E9]];important; overflow-wrap: break-word !important;">VAR num StartAngle;important; overflow-wrap: break-word !important;">VAR jointtarget jGoal:=[[0,0,0,0,0,0],[9E9,9E9,9E9,9E9,9E9,9E9]];important; overflow-wrap: break-word !important;">VAR num t;important; overflow-wrap: break-word !important;">VAR num arr{6}:=[0,0,0,0,0,0];important; overflow-wrap: break-word !important;">jGoal:=CJointT();important; overflow-wrap: break-word !important;">
important; overflow-wrap: break-word !important;">!记录当前位置important; overflow-wrap: break-word !important;">TESTAxisimportant; overflow-wrap: break-word !important;">CASE 1:important; overflow-wrap: break-word !important;">StartAngle:=jGoal.robax.rax_1;important; overflow-wrap: break-word !important;">jGoal.robax.rax_1:=angle;important; overflow-wrap: break-word !important;">CASE 2:important; overflow-wrap: break-word !important;">StartAngle:=jGoal.robax.rax_2;important; overflow-wrap: break-word !important;">jGoal.robax.rax_2:=angle;important; overflow-wrap: break-word !important;">CASE 3:important; overflow-wrap: break-word !important;">StartAngle:=jGoal.robax.rax_3;important; overflow-wrap: break-word !important;">jGoal.robax.rax_3:=angle;important; overflow-wrap: break-word !important;">CASE 4:important; overflow-wrap: break-word !important;">StartAngle:=jGoal.robax.rax_4;important; overflow-wrap: break-word !important;">jGoal.robax.rax_4:=angle;important; overflow-wrap: break-word !important;">CASE 5:important; overflow-wrap: break-word !important;">StartAngle:=jGoal.robax.rax_5;important; overflow-wrap: break-word !important;">jGoal.robax.rax_5:=angle;important; overflow-wrap: break-word !important;">CASE 6:important; overflow-wrap: break-word !important;">StartAngle:=jGoal.robax.rax_6;important; overflow-wrap: break-word !important;">jGoal.robax.rax_6:=angle;important; overflow-wrap: break-word !important;">DEFAULT:important; overflow-wrap: break-word !important;">ENDTESTimportant; overflow-wrap: break-word !important;">t:=abs((Angle-StartAngle)/speed);important; overflow-wrap: break-word !important;">!运动时间等于运行角度/设定速度important; overflow-wrap: break-word !important;">MoveAbsJ jGoal\NoEOffs,v100\T:=t,fine,tool0\WObj:=wobj0;important; overflow-wrap: break-word !important;">ENDPROC

important; overflow-wrap: break-word !important;">PROCtestpath()important; overflow-wrap: break-word !important;">MoveAbsJ j100\NoEOffs,v1000,fine,tool0\WObj:=wobj0;important; overflow-wrap: break-word !important;">WHILETRUEDOimportant; overflow-wrap: break-word !important;">MoveAxis 1,90,70;important; overflow-wrap: break-word !important;">!机器人1轴走到90°，速度为70°/simportant; overflow-wrap: break-word !important;">MoveAxis 1,-90,70;important; overflow-wrap: break-word !important;">ENDWHILEimportant; overflow-wrap: break-word !important;">ENDPROC