FRAME=17的时候,是4轴联动,4个轴分别驱动滚筒,通过控制4个轴的绳子的长度,来实现被吊物的移动。执行FRAME=17的时候,AXIS0-2没有问题,AXIS3报警。奇怪了。附上程序,请看一下有没有问题。
UNITS AXIS(0) = 1000
UNITS AXIS(1) = 1000
UNITS AXIS(2) = 1000
UNITS AXIS(3) = 1000
FRAME_GROUP(1,100,0,1,2,3)
' These positions are in user units (mm for example)
TABLE(100,0,0,0)
TABLE(103,700,0,0)
TABLE(106,700,400,0)
TABLE(109,0,400,0)
TABLE(112,0,0,0)
TABLE(115,0,0,0)
ratios:
ratio1 = 1000
ratio2 = 1000
ratio3 = 1000
ratio4 = 1000
TABLE(118,ratio1,ratio2,ratio3)
TABLE(121,ratio4,ratio5,ratio6)
' option:
scale = 1000
TABLE(124,1)' solution option (1 or 0)
TABLE(125,3)' axes 3 or 4
TABLE(126,1000)' scale factor
' This is the start X,Y,Z position:
x = 350
y = 200
z = -100
'x = 350 * TABLE(118)
'y = 200 * TABLE(119)
'z = -100 * TABLE(120)
' This is not the general case: It assumes system datums to middle
' XYZ position abovke, with Z at -100
r1 = SQR(x ^ 2 + y ^ 2 + z ^ 2)
r2 = SQR(x ^ 2 + y ^ 2 + z ^ 2)
r3 = SQR(x ^ 2 + y ^ 2 + z ^ 2)
DEFPOS(r1,r2,r3)
FRAME = 17