GE 531X191RTBAFG1卡件模块电源连接卡
创建目标您可以通过在“创建目标”对话框中输入目标的位置或在图形窗口中单击来手动创建新目标。目标将在活动工作对象中创建。有关过程，请参见第202页的创建目标。创建关节目标关节目标是机器人轴位置的规范。有关步骤，请参见第204页的“创建关节目标”。设定目标您可以通过点动机器人并在活动TCP设定目标来创建新目标。将使用折弯到目标时使用的轴配置来创建倾斜目标。目标将在活动工作对象中创建修改目标位置通过使用修改位置命令，您可以修改目标的位置和旋转。有关程序，请分别参见第421页的设置位置和第417页的旋转。使用ModPos修改目标可通过将机器人缓慢移动到新的首选位置来修改现有目标的位置。通过为路径中的目标选择移动指令，ModPos命令可用于将目标移动到活动工具的TCP。执行ModPos时，移动指令引用的目标将更新为以下信息：•与活动刀具TCP相对应的位置和方向•活动机器人的当前配置•活动机器人所有活动外部轴的当前位置和方向值注意：要使机器人线性点动，必须为该机器人运行虚拟控制器。
Creating a target
You can create a new target manually either by entering the position for the target in the
Create Target dialog box or by clicking in the graphics window.
The target will be created in the active workobject.
For a procedure, see Create Target on page 202.
Creating a jointtarget
A jointtarget is a specification of the position for the robot axes.
For a procedure, see Create Jointtarget on page 204.
Teaching targets
You can create a new target by jogging the robot and teaching a target at the active TCP.
Taught targets will be created with the axis configuration used when jogged to the target.
The target will be created in the active workobject Modifying a target position
By using the modify position command you can modify the position and rotation of a target.
For procedures, see Set Position on page 421 and Rotate on page 417, respectively.
Modifying a target with ModPos
The position of an existing target can be modified by jogging the robot to a new, preferred
position. By selecting a move instruction for the target in a path, the ModPos command can
be used to move the target to the TCP of the active tool.
When ModPos is executed, the target, referenced to by the move instruction, will be updated
with the following information:
• position and orientation corresponding to the TCP of the active tool
• the current configuration of the active robot
• the current position and orientation values of all active external axes for the active
robot
NOTE: To jog a robot linearly, a virtual controller must be running for that robot.
