ABB DSQC253 3HAA3563-AMA机器人系列
（可选）选中“终点停止”复选框，使模拟在沿路径移动后停止。清除此复选框将使模拟继续循环，直到单击“暂停”。4.单击“播放”以基于当前开始位置模拟沿路径的运动。如果您对运动满意，请继续生成多运动路径。如果模拟无法完成或您对运动不满意，请暂停模拟并执行以下任何操作以调整运动：检查机器人的位置以确定关键目标。单击暂停，然后使用箭头按钮一次移动到一个目标。将机器人点动到新的起始位置。由于机器人将使用不同的配置，新的开始位置可能会导致运动改变。在大多数情况下，应避免机器人关节极限附近的位置。转到“运动行为”选项卡并删除约束。运动财产的默认设置是无约束。如果改变了这一点，则可能存在限制运动的约束。
Optionally, select the Stop at end check box to make the simulation stop after moving
along the paths. Clearing this check box makes the simulation continue in a loop until you
click Pause.
4. Click Play to simulate the motions along the paths based on the current start position.
If you are satisfied with the motions, continue generating multimove paths. If the
simulation cannot complete or if you are not satisfied with the motions, pause the
simulation and perform any of the actions below to adjust the motions:Examine the robots’ positions
for critical targets.
Click Pause and then use the arrow buttons to move to one
target a time.
Jog the robots to new start
positions.
New start positions might result in changed motions, since the
robots will use different configurations. In most cases,
positions near the robots’ joint limits shall be avoided.
Go to the Motion Behavior
tab and remove constraints.
The default setting for the motion properties is no constraints.
If this has been changed, constraints might exist that limit
motions more than necessary.
