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发表于 2024-3-17 00:00:53
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本帖最后由 t1010 于 2024-3-17 00:09 编辑 ( a! C% J0 y l6 j
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想要几轴可以在配置文件里改，添加以下参数到配置文件里，具体数字改下即可% P* \# {, D2 C/ r
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[TRAJ] COORDINATES = X Y Z A B9 [7 H8 M% j M0 P" u: p @% k0 D
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[KINS] KINEMATICS = trivkins
- c N' b; d) z% P# l3 t4 yJOINTS = 5
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& N5 U- n3 x1 q7 G2 C[AXIS_A]5 k' C0 m: {& |' y! a' l, }" w% I% J
MIN_LIMIT = -360.0
; v5 I6 C/ g- C( c5 \MAX_LIMIT = 360.0
1 s3 H4 u7 Q2 SMAX_VELOCITY = 90.0- ~; P, Q; `- }3 I7 Z
MAX_ACCELERATION = 1200.0( |7 j& M0 V, c( Q* U, e3 F
2 d3 i8 K/ `" Q# u[JOINT_3]1 A+ L$ `( q" y1 D6 d* O1 G5 A
TYPE = ANGULAR: B* I" b, C% f6 P, G
MAX_VELOCITY = 90.0/ H# Z) \! @7 @. i
MAX_ACCELERATION = 1200.0
, u) j! E$ J7 n- ~0 }9 nHOME_SEQUENCE = 04 k j( i5 q3 W# N
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[AXIS_B]
: B5 w) a! ^ S; @: x+ g( ^% EMIN_LIMIT = -360.0% g- t0 m" s$ \5 y* l6 d
MAX_LIMIT = 360.0
0 P( ?( t4 f W3 jMAX_VELOCITY = 90.0
. I3 i) ?( I) I# h- }4 `# UMAX_ACCELERATION = 1200.09 M+ g* c6 ]) F1 G! E9 l# g/ Q( H
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[JOINT_4]+ \/ S1 s$ p8 a( {
TYPE = ANGULAR
; A L3 O; D! b# M% C, t$ \7 @5 CMAX_VELOCITY = 90.0( c, r3 E9 }: s5 t* ~/ d1 e
MAX_ACCELERATION = 1200.0
1 U1 U5 ~6 N- Y6 s" rHOME_SEQUENCE = 0 |
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