SGL_MoveToPos(SGEQ_StartPoint,SGEQ_StartPoint,#CLS_OPEN,MovementType)

MoveType =MovementType=#SG_PTP 點(diǎn)到點(diǎn)

ContType=#CLS_OPEN

TargetPos =SGEQ_StartPoint

HelpPos= SGEQ_StartPoint

GLOBALDEF SGL_MoveToPos(TargetPos:IN,HelpPos:IN,ContType:IN,MoveType:IN)

該程序用于在焊接前移動到焊接軌跡點(diǎn)使用

DECLE6POS TargetPos, HelpPos

DECL SG_Cont_T ContType

DECL SG_MoveType_T MoveType

CONTINUE

IF((ContType==#SOPEN) OR (ContType==#SCLOSE) OR (ContType==#CLS_OPEN))THEN ContType==#CLS_OPEN

; 關(guān)于PTP的第二近似定位=> LIN和LIN至PTP ..

SWITCH MoveTypeMoveType=#SG_PTP 點(diǎn)到點(diǎn)

CASE #SG_PTP 點(diǎn)到點(diǎn)

PTP TargetPos C_DIS 使用軌跡逼近

CASE #SG_LIN直線

LIN TargetPos C_DISC_DIS

CASE #SG_CIRC 圓弧

CIRC HelpPos, TargetPos C_DISC_DIS

ENDSWITCH

ELSE 如果沒有上述激活功能ContType=….直接移動沒有過渡

SWITCH MoveType

CASE #SG_PTP

PTP TargetPos

CASE #SG_LIN

LIN TargetPos

CASE #SG_CIRC

CIRC HelpPos, TargetPos

ENDSWITCH

ENDIF

CONTINUE

責(zé)任編輯：xj

原文標(biāo)題：KUKA 電伺服焊鉗,SGL_MoveToPos焊接前移動到焊點(diǎn)位置

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