ABB 07KR51-U3.6 1SBP260010R1001模块
ABB 07KR51-U3.6 1SBP260010R1001联合目标及其说明只能使用wobj0和tool0。•一个目标不能用作不同的类型，例如MoveJoint，但必须删除并重新创建。•当目标与虚拟控制器同步后，将计算联合目标值并将其插入RAPID程序中。要从曲线创建路径，必须首先在工作站中创建曲线。从曲线1创建路径。在布局浏览器中，选择要在其中创建路径的任务。2.单击“曲线路径”以打开对话框。3.在“从图形中选择曲线”框中，单击“添加新曲线”，然后在图形窗口中单击所需的曲线。4.选择“在曲线上创建”（Create on curve）或“参考曲面”（Reference surface）：确保在曲线上生成路径。ABB 07KR51-U3.6 1SBP260010R1001如果清除，则可以在参考曲面上生成路径（如果使用）。使用参考曲面在曲线上创建。目标的初始方向将垂直于曲面，目标的参数将与该方向相关。参考曲面
ABB 07KR51-U3.6 1SBP260010R1001Jointtargets and their instructions can only use wobj0 and tool0.
• One target can not be used as different types, for example, MoveJoint, but must be
deleted and re-created.
• When the target has been synchronized with the virtual controller, the jointtarget
values will be calculated and inserted in the RAPID program.To create a path from a curve, the curve must first have been created in the station.
Creating a path from a curve
1. In the Layout browser, select the task in which you want to create the path.
2. Click Path From Curve to bring up a dialog box.
3. In the Select curves from graphics box, click Add New and then click the requested
curve in the graphics window.
4. Select Create on curve or Reference surface:
