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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
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
[TRAJ] COORDINATES = X Y Z A B
[KINS] KINEMATICS = trivkins
JOINTS = 5
[AXIS_A]
MIN_LIMIT = -360.0
MAX_LIMIT = 360.0
MAX_VELOCITY = 90.0
MAX_ACCELERATION = 1200.0
[JOINT_3]
TYPE = ANGULAR
MAX_VELOCITY = 90.0
MAX_ACCELERATION = 1200.0
HOME_SEQUENCE = 0
[AXIS_B]
MIN_LIMIT = -360.0
MAX_LIMIT = 360.0
MAX_VELOCITY = 90.0
MAX_ACCELERATION = 1200.0
[JOINT_4]
TYPE = ANGULAR
MAX_VELOCITY = 90.0
MAX_ACCELERATION = 1200.0
HOME_SEQUENCE = 0 |
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