{"id":50172,"date":"2025-07-30T21:46:31","date_gmt":"2025-07-30T13:46:31","guid":{"rendered":"https:\/\/www.wsisp.com\/helps\/50172.html"},"modified":"2025-07-30T21:46:31","modified_gmt":"2025-07-30T13:46:31","slug":"%e9%92%a3%e9%87%91%e5%8a%a0%e5%b7%a5%e6%9c%ba%e5%99%a8%e4%ba%ba%e7%b3%bb%e5%88%97%e7%bc%96%e7%a8%8b%ef%bc%9ayaskawa-motoman-mh50_%ef%bc%886%ef%bc%89-%e6%9c%ba%e5%99%a8%e4%ba%ba%e8%bf%90%e5%8a%a8","status":"publish","type":"post","link":"https:\/\/www.wsisp.com\/helps\/50172.html","title":{"rendered":"\u94a3\u91d1\u52a0\u5de5\u673a\u5668\u4eba\u7cfb\u5217\u7f16\u7a0b\uff1aYaskawa Motoman MH50_\uff086\uff09.\u673a\u5668\u4eba\u8fd0\u52a8\u63a7\u5236\u7f16\u7a0b"},"content":{"rendered":"<h2>\u673a\u5668\u4eba\u8fd0\u52a8\u63a7\u5236\u7f16\u7a0b<\/h2>\n<p><img decoding=\"async\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2025\/07\/20250730134628-688a2234bac40.png\" alt=\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" 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100, Y 100, Z 100, W 0, P 0, R 0} ; \u5b9a\u4e49\u5706\u5f27\u7684\u8d77\u59cb\u70b9<\/p>\n<p>P[2] &#061; {X 150, Y 150, Z 150, W 0, P 0, R 0} ; \u5b9a\u4e49\u5706\u5f27\u7684\u4e2d\u95f4\u70b9<\/p>\n<p>P[3] &#061; {X 200, Y 200, Z 100, W 0, P 0, R 0} ; \u5b9a\u4e49\u5706\u5f27\u7684\u76ee\u6807\u70b9<\/p>\n<p>; \u6267\u884c\u5706\u5f27\u8fd0\u52a8<\/p>\n<p>CIRC P[1] P[2] P[3] 50% CNT80 ; \u4ece\u5f53\u524d\u70b9\u6cbf\u5706\u5f27\u8def\u5f84\u79fb\u52a8\u5230P[3]&#xff0c;\u901f\u5ea650%&#xff0c;\u5b9a\u4f4d\u7cbe\u5ea6\u4e3aCNT80<\/p>\n<h4>\u8fd0\u52a8\u53c2\u6570\u8bbe\u7f6e<\/h4>\n<p>\u5728Yaskawa Motoman MH50\u673a\u5668\u4eba\u4e2d&#xff0c;\u8fd0\u52a8\u53c2\u6570\u7684\u8bbe\u7f6e\u76f4\u63a5\u5f71\u54cd\u673a\u5668\u4eba\u7684\u8fd0\u52a8\u6027\u80fd\u548c\u52a0\u5de5\u7cbe\u5ea6\u3002\u5e38\u89c1\u7684\u8fd0\u52a8\u53c2\u6570\u5305\u62ec\u901f\u5ea6\u3001\u52a0\u901f\u5ea6\u3001\u5b9a\u4f4d\u7cbe\u5ea6\u7b49\u3002<\/p>\n<h5>\u901f\u5ea6\u8bbe\u7f6e<\/h5>\n<p>\u901f\u5ea6\u8bbe\u7f6e\u51b3\u5b9a\u4e86\u673a\u5668\u4eba\u5728\u8fd0\u52a8\u8fc7\u7a0b\u4e2d\u79fb\u52a8\u7684\u5feb\u6162\u3002\u53ef\u4ee5\u901a\u8fc7\u767e\u5206\u6bd4\u6216\u7edd\u5bf9\u503c\u6765\u8bbe\u7f6e\u901f\u5ea6\u3002<\/p>\n<p>; \u901f\u5ea6\u8bbe\u7f6e\u793a\u4f8b<\/p>\n<p>P[1] &#061; {X 100, Y 100, Z 100, W 0, P 0, R 0} ; \u5b9a\u4e49\u76ee\u6807\u70b9<\/p>\n<p>; \u8bbe\u7f6e\u901f\u5ea6\u4e3a50%<\/p>\n<p>SPEED 50% ; \u8bbe\u7f6e\u5168\u5c40\u901f\u5ea6<\/p>\n<p>J P[1] 50% FINE ; \u4ece\u5f53\u524d\u4f4d\u7f6e\u79fb\u52a8\u5230P[1]&#xff0c;\u901f\u5ea650%&#xff0c;\u5b9a\u4f4d\u7cbe\u5ea6\u4e3aFINE<\/p>\n<p>; \u8bbe\u7f6e\u7edd\u5bf9\u901f\u5ea6<\/p>\n<p>SPEED 1000mm\/sec ; \u8bbe\u7f6e\u5168\u5c40\u901f\u5ea6\u4e3a1000\u6beb\u7c73\/\u79d2<\/p>\n<p>J P[1] 1000mm\/sec FINE ; \u4ece\u5f53\u524d\u4f4d\u7f6e\u79fb\u52a8\u5230P[1]&#xff0c;\u901f\u5ea61000\u6beb\u7c73\/\u79d2&#xff0c;\u5b9a\u4f4d\u7cbe\u5ea6\u4e3aFINE<\/p>\n<h5>\u52a0\u901f\u5ea6\u8bbe\u7f6e<\/h5>\n<p>\u52a0\u901f\u5ea6\u8bbe\u7f6e\u51b3\u5b9a\u4e86\u673a\u5668\u4eba\u5728\u8fd0\u52a8\u8fc7\u7a0b\u4e2d\u52a0\u901f\u548c\u51cf\u901f\u7684\u5feb\u6162\u3002\u53ef\u4ee5\u901a\u8fc7\u767e\u5206\u6bd4\u6216\u7edd\u5bf9\u503c\u6765\u8bbe\u7f6e\u52a0\u901f\u5ea6\u3002<\/p>\n<p>; \u52a0\u901f\u5ea6\u8bbe\u7f6e\u793a\u4f8b<\/p>\n<p>P[1] &#061; {X 100, Y 100, Z 100, W 0, P 0, R 0} ; \u5b9a\u4e49\u76ee\u6807\u70b9<\/p>\n<p>; \u8bbe\u7f6e\u52a0\u901f\u5ea6\u4e3a50%<\/p>\n<p>ACCEL 50% ; \u8bbe\u7f6e\u5168\u5c40\u52a0\u901f\u5ea6<\/p>\n<p>J P[1] 100% FINE ; \u4ece\u5f53\u524d\u4f4d\u7f6e\u79fb\u52a8\u5230P[1]&#xff0c;\u901f\u5ea6100%&#xff0c;\u5b9a\u4f4d\u7cbe\u5ea6\u4e3aFINE<\/p>\n<p>; \u8bbe\u7f6e\u7edd\u5bf9\u52a0\u901f\u5ea6<\/p>\n<p>ACCEL 5000mm\/sec^2 ; \u8bbe\u7f6e\u5168\u5c40\u52a0\u901f\u5ea6\u4e3a5000\u6beb\u7c73\/\u79d2^2<\/p>\n<p>J P[1] 100% FINE ; \u4ece\u5f53\u524d\u4f4d\u7f6e\u79fb\u52a8\u5230P[1]&#xff0c;\u901f\u5ea6100%&#xff0c;\u5b9a\u4f4d\u7cbe\u5ea6\u4e3aFINE<\/p>\n<h5>\u5b9a\u4f4d\u7cbe\u5ea6\u8bbe\u7f6e<\/h5>\n<p>\u5b9a\u4f4d\u7cbe\u5ea6\u8bbe\u7f6e\u51b3\u5b9a\u4e86\u673a\u5668\u4eba\u5230\u8fbe\u76ee\u6807\u70b9\u7684\u7cbe\u786e\u7a0b\u5ea6\u3002\u5e38\u89c1\u7684\u5b9a\u4f4d\u7cbe\u5ea6\u5305\u62ecFINE\u548cCNT\u4e24\u79cd\u3002<\/p>\n<ul>\n<li>\n<p>FINE&#xff1a;\u673a\u5668\u4eba\u5230\u8fbe\u76ee\u6807\u70b9\u7684\u786e\u5207\u4f4d\u7f6e\u3002<\/p>\n<\/li>\n<li>\n<p>CNT&#xff1a;\u673a\u5668\u4eba\u63a5\u8fd1\u76ee\u6807\u70b9&#xff0c;\u4f46\u4e0d\u4e00\u5b9a\u662f\u7cbe\u786e\u5230\u8fbe&#xff0c;\u9002\u7528\u4e8e\u9700\u8981\u5e73\u6ed1\u8fc7\u6e21\u7684\u8def\u5f84\u3002<\/p>\n<\/li>\n<\/ul>\n<p>; \u5b9a\u4f4d\u7cbe\u5ea6\u8bbe\u7f6e\u793a\u4f8b<\/p>\n<p>P[1] &#061; {X 100, Y 100, Z 100, W 0, P 0, R 0} ; \u5b9a\u4e49\u76ee\u6807\u70b9<\/p>\n<p>; \u8bbe\u7f6e\u5b9a\u4f4d\u7cbe\u5ea6\u4e3aFINE<\/p>\n<p>J P[1] 100% FINE ; \u4ece\u5f53\u524d\u4f4d\u7f6e\u79fb\u52a8\u5230P[1]&#xff0c;\u901f\u5ea6100%&#xff0c;\u5b9a\u4f4d\u7cbe\u5ea6\u4e3aFINE<\/p>\n<p>; \u8bbe\u7f6e\u5b9a\u4f4d\u7cbe\u5ea6\u4e3aCNT80<\/p>\n<p>J P[1] 100% CNT80 ; \u4ece\u5f53\u524d\u4f4d\u7f6e\u79fb\u52a8\u5230P[1]&#xff0c;\u901f\u5ea6100%&#xff0c;\u5b9a\u4f4d\u7cbe\u5ea6\u4e3aCNT80<\/p>\n<h4>\u8def\u5f84\u89c4\u5212<\/h4>\n<p>\u8def\u5f84\u89c4\u5212\u662f\u8fd0\u52a8\u63a7\u5236\u7f16\u7a0b\u7684\u6838\u5fc3\u5185\u5bb9\u4e4b\u4e00&#xff0c;\u5408\u7406\u7684\u8def\u5f84\u89c4\u5212\u53ef\u4ee5\u63d0\u9ad8\u52a0\u5de5\u6548\u7387\u548c\u8d28\u91cf\u3002\u8def\u5f84\u89c4\u5212\u5305\u62ec\u70b9\u7684\u5b9a\u4e49\u3001\u8def\u5f84\u7684\u8fde\u63a5\u548c\u4f18\u5316\u7b49\u6b65\u9aa4\u3002<\/p>\n<h5>\u70b9\u7684\u5b9a\u4e49<\/h5>\n<p>\u5728\u8def\u5f84\u89c4\u5212\u4e2d&#xff0c;\u9996\u5148\u9700\u8981\u5b9a\u4e49\u4e00\u7cfb\u5217\u7684\u70b9\u3002\u8fd9\u4e9b\u70b9\u53ef\u4ee5\u662f\u52a0\u5de5\u70b9\u3001\u8fc7\u6e21\u70b9\u6216\u5b89\u5168\u70b9\u3002\u70b9\u7684\u5b9a\u4e49\u53ef\u4ee5\u901a\u8fc7\u5750\u6807\u7cfb\u6216\u5173\u8282\u89d2\u5ea6\u6765\u5b9e\u73b0\u3002<\/p>\n<p>; \u5b9a\u4e49\u70b9\u793a\u4f8b<\/p>\n<p>P[1] &#061; {X 100, Y 100, Z 100, W 0, P 0, R 0} ; \u5750\u6807\u7cfb\u5b9a\u4e49\u70b9<\/p>\n<p>P[2] &#061; {J1 0, J2 0, J3 0, J4 0, J5 0, J6 0} ; \u5173\u8282\u89d2\u5ea6\u5b9a\u4e49\u70b9<\/p>\n<h5>\u8def\u5f84\u7684\u8fde\u63a5<\/h5>\n<p>\u8def\u5f84\u7684\u8fde\u63a5\u662f\u6307\u5c06\u5b9a\u4e49\u7684\u70b9\u6309\u7167\u4e00\u5b9a\u7684\u987a\u5e8f\u8fde\u63a5\u8d77\u6765&#xff0c;\u5f62\u6210\u4e00\u4e2a\u5b8c\u6574\u7684\u8fd0\u52a8\u8def\u5f84\u3002\u53ef\u4ee5\u901a\u8fc7\u70b9\u5230\u70b9\u3001\u8fde\u7eed\u8def\u5f84\u6216\u5706\u5f27\u8fd0\u52a8\u6307\u4ee4\u6765\u5b9e\u73b0\u3002<\/p>\n<p>; \u8def\u5f84\u8fde\u63a5\u793a\u4f8b<\/p>\n<p>P[1] &#061; {X 100, Y 100, Z 100, W 0, P 0, R 0} ; \u5b9a\u4e49\u7b2c\u4e00\u4e2a\u70b9<\/p>\n<p>P[2] &#061; {X 150, Y 150, Z 150, W 0, P 0, R 0} ; \u5b9a\u4e49\u7b2c\u4e8c\u4e2a\u70b9<\/p>\n<p>P[3] &#061; {X 200, Y 200, Z 100, W 0, P 0, R 0} ; \u5b9a\u4e49\u7b2c\u4e09\u4e2a\u70b9<\/p>\n<p>; \u8fde\u63a5\u70b9\u7684\u8def\u5f84<\/p>\n<p>J P[1] 100% FINE ; \u4ece\u5f53\u524d\u4f4d\u7f6e\u79fb\u52a8\u5230P[1]<\/p>\n<p>L P[2] 80% FINE ; \u4eceP[1]\u79fb\u52a8\u5230P[2]<\/p>\n<p>CIRC P[2] P[3] P[4] 50% CNT80 ; \u4eceP[2]\u6cbf\u5706\u5f27\u8def\u5f84\u79fb\u52a8\u5230P[4]<\/p>\n<h5>\u8def\u5f84\u4f18\u5316<\/h5>\n<p>\u8def\u5f84\u4f18\u5316\u662f\u6307\u901a\u8fc7\u8c03\u6574\u8def\u5f84\u53c2\u6570\u6216\u70b9\u7684\u987a\u5e8f&#xff0c;\u4f7f\u673a\u5668\u4eba\u5728\u8fd0\u52a8\u8fc7\u7a0b\u4e2d\u66f4\u52a0\u9ad8\u6548\u548c\u5b89\u5168\u3002\u8def\u5f84\u4f18\u5316\u7684\u65b9\u6cd5\u5305\u62ec\u51cf\u5c11\u4e0d\u5fc5\u8981\u7684\u70b9\u3001\u8c03\u6574\u901f\u5ea6\u548c\u52a0\u901f\u5ea6\u53c2\u6570\u7b49\u3002<\/p>\n<p>; \u8def\u5f84\u4f18\u5316\u793a\u4f8b<\/p>\n<p>P[1] &#061; {X 100, Y 100, Z 100, W 0, P 0, R 0} ; \u5b9a\u4e49\u7b2c\u4e00\u4e2a\u70b9<\/p>\n<p>P[2] &#061; {X 150, Y 150, Z 150, W 0, P 0, R 0} ; \u5b9a\u4e49\u7b2c\u4e8c\u4e2a\u70b9<\/p>\n<p>P[3] &#061; {X 200, Y 200, Z 100, W 0, P 0, R 0} ; \u5b9a\u4e49\u7b2c\u4e09\u4e2a\u70b9<\/p>\n<p>; \u672a\u4f18\u5316\u7684\u8def\u5f84<\/p>\n<p>J P[1] 100% FINE<\/p>\n<p>L P[2] 80% FINE<\/p>\n<p>J P[3] 100% FINE<\/p>\n<p>; \u4f18\u5316\u540e\u7684\u8def\u5f84<\/p>\n<p>; \u51cf\u5c11\u4e0d\u5fc5\u8981\u7684\u70b9&#xff0c;\u8c03\u6574\u901f\u5ea6\u548c\u52a0\u901f\u5ea6<\/p>\n<p>SPEED 800mm\/sec<\/p>\n<p>ACCEL 4000mm\/sec^2<\/p>\n<p>J P[1] 800mm\/sec FINE<\/p>\n<p>CIRC P[1] P[2] P[3] 800mm\/sec CNT80<\/p>\n<h4>\u8fd0\u52a8\u63a7\u5236\u7f16\u7a0b\u7684\u6ce8\u610f\u4e8b\u9879<\/h4>\n<p>\u5728\u8fdb\u884c\u8fd0\u52a8\u63a7\u5236\u7f16\u7a0b\u65f6&#xff0c;\u9700\u8981\u6ce8\u610f\u4ee5\u4e0b\u51e0\u4e2a\u65b9\u9762&#xff1a;<\/p>\n<li>\n<p>\u5b89\u5168\u70b9\u8bbe\u7f6e&#xff1a;\u5728\u8def\u5f84\u89c4\u5212\u4e2d&#xff0c;\u5408\u7406\u8bbe\u7f6e\u5b89\u5168\u70b9\u53ef\u4ee5\u907f\u514d\u673a\u5668\u4eba\u5728\u8fd0\u52a8\u8fc7\u7a0b\u4e2d\u53d1\u751f\u78b0\u649e\u3002<\/p>\n<\/li>\n<li>\n<p>\u901f\u5ea6\u548c\u52a0\u901f\u5ea6\u7684\u5339\u914d&#xff1a;\u901f\u5ea6\u548c\u52a0\u901f\u5ea6\u53c2\u6570\u9700\u8981\u5339\u914d&#xff0c;\u4ee5\u786e\u4fdd\u673a\u5668\u4eba\u8fd0\u52a8\u7684\u5e73\u7a33\u6027\u3002<\/p>\n<\/li>\n<li>\n<p>\u8def\u5f84\u5e73\u6ed1\u6027&#xff1a;\u8fde\u7eed\u8def\u5f84\u8fd0\u52a8\u548c\u5706\u5f27\u8fd0\u52a8\u53ef\u4ee5\u63d0\u9ad8\u8def\u5f84\u7684\u5e73\u6ed1\u6027&#xff0c;\u9002\u7528\u4e8e\u9700\u8981\u5e73\u6ed1\u8fc7\u6e21\u7684\u52a0\u5de5\u4efb\u52a1\u3002<\/p>\n<\/li>\n<li>\n<p>\u5de5\u5177\u5750\u6807\u7cfb&#xff1a;\u5728\u8fdb\u884c\u52a0\u5de5\u4efb\u52a1\u65f6&#xff0c;\u9700\u8981\u8bbe\u7f6e\u5408\u9002\u7684\u5de5\u5177\u5750\u6807\u7cfb&#xff0c;\u4ee5\u786e\u4fdd\u52a0\u5de5\u7cbe\u5ea6\u3002<\/p>\n<\/li>\n<h4>\u5177\u4f53\u5b9e\u4f8b<\/h4>\n<h5>\u55b7\u6d82\u4efb\u52a1\u7684\u8fd0\u52a8\u63a7\u5236\u7f16\u7a0b<\/h5>\n<p>\u5047\u8bbe\u6211\u4eec\u9700\u8981\u673a\u5668\u4eba\u5b8c\u6210\u4e00\u4e2a\u55b7\u6d82\u4efb\u52a1&#xff0c;\u4efb\u52a1\u8def\u5f84\u5305\u62ec\u8d77\u70b9\u3001\u591a\u4e2a\u55b7\u6d82\u70b9\u548c\u7ec8\u70b9\u3002\u4e3a\u4e86\u786e\u4fdd\u55b7\u6d82\u7684\u5747\u5300\u6027\u548c\u6548\u7387&#xff0c;\u6211\u4eec\u9700\u8981\u8fdb\u884c\u8fde\u7eed\u8def\u5f84\u8fd0\u52a8\u548c\u5706\u5f27\u8fd0\u52a8\u7684\u7ec4\u5408\u3002<\/p>\n<p>; \u55b7\u6d82\u4efb\u52a1\u793a\u4f8b<\/p>\n<p>P[1] &#061; {X 100, Y 100, Z 100, W 0, P 0, R 0} ; \u8d77\u70b9<\/p>\n<p>P[2] &#061; {X 150, Y 150, Z 150, W 0, P 0, R 0} ; \u7b2c\u4e00\u4e2a\u55b7\u6d82\u70b9<\/p>\n<p>P[3] &#061; {X 200, Y 200, Z 150, W 0, P 0, R 0} ; \u7b2c\u4e8c\u4e2a\u55b7\u6d82\u70b9<\/p>\n<p>P[4] &#061; {X 250, Y 250, Z 100, W 0, P 0, R 0} ; \u7b2c\u4e09\u4e2a\u55b7\u6d82\u70b9<\/p>\n<p>P[5] &#061; {X 300, Y 300, Z 100, W 0, P 0, R 0} ; \u7ec8\u70b9<\/p>\n<p>; \u8bbe\u7f6e\u901f\u5ea6\u548c\u52a0\u901f\u5ea6<\/p>\n<p>SPEED 500mm\/sec<\/p>\n<p>ACCEL 3000mm\/sec^2<\/p>\n<p>; \u6267\u884c\u55b7\u6d82\u4efb\u52a1<\/p>\n<p>J P[1] 500mm\/sec FINE ; \u4ece\u5f53\u524d\u4f4d\u7f6e\u79fb\u52a8\u5230\u8d77\u70b9<\/p>\n<p>L P[2] 500mm\/sec CNT80 ; \u4ece\u8d77\u70b9\u79fb\u52a8\u5230\u7b2c\u4e00\u4e2a\u55b7\u6d82\u70b9<\/p>\n<p>L P[3] 500mm\/sec CNT80 ; \u4ece\u7b2c\u4e00\u4e2a\u55b7\u6d82\u70b9\u79fb\u52a8\u5230\u7b2c\u4e8c\u4e2a\u55b7\u6d82\u70b9<\/p>\n<p>L P[4] 500mm\/sec CNT80 ; \u4ece\u7b2c\u4e8c\u4e2a\u55b7\u6d82\u70b9\u79fb\u52a8\u5230\u7b2c\u4e09\u4e2a\u55b7\u6d82\u70b9<\/p>\n<p>CIRC P[4] P[5] P[6] 500mm\/sec CNT80 ; \u4ece\u7b2c\u4e09\u4e2a\u55b7\u6d82\u70b9\u6cbf\u5706\u5f27\u8def\u5f84\u79fb\u52a8\u5230\u7ec8\u70b9<\/p>\n<p>J P[5] 500mm\/sec FINE ; \u4ece\u5706\u5f27\u8def\u5f84\u7684\u6700\u540e\u4e00\u4e2a\u70b9\u79fb\u52a8\u5230\u7ec8\u70b9<\/p>\n<h5>\u710a\u63a5\u4efb\u52a1\u7684\u8fd0\u52a8\u63a7\u5236\u7f16\u7a0b<\/h5>\n<p>\u5047\u8bbe\u6211\u4eec\u9700\u8981\u673a\u5668\u4eba\u5b8c\u6210\u4e00\u4e2a\u710a\u63a5\u4efb\u52a1&#xff0c;\u4efb\u52a1\u8def\u5f84\u5305\u62ec\u8d77\u70b9\u3001\u591a\u4e2a\u710a\u63a5\u70b9\u548c\u7ec8\u70b9\u3002\u4e3a\u4e86\u786e\u4fdd\u710a\u63a5\u7684\u8fde\u7eed\u6027\u548c\u8d28\u91cf&#xff0c;\u6211\u4eec\u9700\u8981\u8fdb\u884c\u8fde\u7eed\u8def\u5f84\u8fd0\u52a8\u548c\u70b9\u5230\u70b9\u8fd0\u52a8\u7684\u7ec4\u5408\u3002<\/p>\n<p>; \u710a\u63a5\u4efb\u52a1\u793a\u4f8b<\/p>\n<p>P[1] &#061; {X 100, Y 100, Z 100, W 0, P 0, R 0} ; \u8d77\u70b9<\/p>\n<p>P[2] &#061; {X 150, Y 150, Z 150, W 0, P 0, R 0} ; \u7b2c\u4e00\u4e2a\u710a\u63a5\u70b9<\/p>\n<p>P[3] &#061; {X 200, Y 200, Z 150, W 0, P 0, R 0} ; \u7b2c\u4e8c\u4e2a\u710a\u63a5\u70b9<\/p>\n<p>P[4] &#061; {X 250, Y 250, Z 100, W 0, P 0, R 0} ; \u7b2c\u4e09\u4e2a\u710a\u63a5\u70b9<\/p>\n<p>P[5] &#061; {X 300, Y 300, Z 100, W 0, P 0, R 0} ; \u7ec8\u70b9<\/p>\n<p>; \u8bbe\u7f6e\u901f\u5ea6\u548c\u52a0\u901f\u5ea6<\/p>\n<p>SPEED 200mm\/sec<\/p>\n<p>ACCEL 1000mm\/sec^2<\/p>\n<p>; \u6267\u884c\u710a\u63a5\u4efb\u52a1<\/p>\n<p>J P[1] 200mm\/sec FINE ; \u4ece\u5f53\u524d\u4f4d\u7f6e\u79fb\u52a8\u5230\u8d77\u70b9<\/p>\n<p>L P[2] 200mm\/sec FINE ; \u4ece\u8d77\u70b9\u79fb\u52a8\u5230\u7b2c\u4e00\u4e2a\u710a\u63a5\u70b9<\/p>\n<p>L P[3] 200mm\/sec FINE ; \u4ece\u7b2c\u4e00\u4e2a\u710a\u63a5\u70b9\u79fb\u52a8\u5230\u7b2c\u4e8c\u4e2a\u710a\u63a5\u70b9<\/p>\n<p>L P[4] 200mm\/sec FINE ; \u4ece\u7b2c\u4e8c\u4e2a\u710a\u63a5\u70b9\u79fb\u52a8\u5230\u7b2c\u4e09\u4e2a\u710a\u63a5\u70b9<\/p>\n<p>J P[5] 200mm\/sec FINE ; \u4ece\u7b2c\u4e09\u4e2a\u710a\u63a5\u70b9\u79fb\u52a8\u5230\u7ec8\u70b9<\/p>\n<h4>\u8fdb\u4e00\u6b65\u6269\u5c55<\/h4>\n<p>\u9664\u4e86\u57fa\u672c\u7684\u8fd0\u52a8\u63a7\u5236\u6307\u4ee4&#xff0c;Yaskawa Motoman MH50\u673a\u5668\u4eba\u8fd8\u652f\u6301\u9ad8\u7ea7\u8fd0\u52a8\u63a7\u5236\u529f\u80fd&#xff0c;\u5982\u8def\u5f84\u63d2\u8865\u3001\u8f68\u8ff9\u4f18\u5316\u548c\u591a\u8f74\u8054\u52a8\u7b49\u3002\u8fd9\u4e9b\u529f\u80fd\u53ef\u4ee5\u8fdb\u4e00\u6b65\u63d0\u9ad8\u673a\u5668\u4eba\u7684\u8fd0\u52a8\u6027\u80fd\u548c\u52a0\u5de5\u7cbe\u5ea6\u3002<\/p>\n<h5>\u8def\u5f84\u63d2\u8865<\/h5>\n<p>\u8def\u5f84\u63d2\u8865\u662f\u6307\u5728\u4e24\u4e2a\u70b9\u4e4b\u95f4\u63d2\u5165\u591a\u4e2a\u4e2d\u95f4\u70b9&#xff0c;\u4f7f\u8def\u5f84\u66f4\u52a0\u5e73\u6ed1\u3002\u53ef\u4ee5\u901a\u8fc7\u8c03\u6574\u63d2\u8865\u53c2\u6570\u6765\u5b9e\u73b0\u3002<\/p>\n<p>; \u8def\u5f84\u63d2\u8865\u793a\u4f8b<\/p>\n<p>P[1] &#061; {X 100, Y 100, Z 100, W 0, P 0, R 0} ; \u8d77\u70b9<\/p>\n<p>P[2] &#061; {X 200, Y 200, Z 200, W 0, P 0, R 0} ; \u7ec8\u70b9<\/p>\n<p>; \u8bbe\u7f6e\u63d2\u8865\u53c2\u6570<\/p>\n<p>IPOL 10 ; \u63d2\u516510\u4e2a\u4e2d\u95f4\u70b9<\/p>\n<p>; \u6267\u884c\u8def\u5f84\u63d2\u8865<\/p>\n<p>L P[1] 500mm\/sec FINE<\/p>\n<p>L P[2] 500mm\/sec FINE<\/p>\n<h5>\u8f68\u8ff9\u4f18\u5316<\/h5>\n<p>\u8f68\u8ff9\u4f18\u5316\u662f\u6307\u901a\u8fc7\u8c03\u6574\u8def\u5f84\u53c2\u6570&#xff0c;\u4f7f\u673a\u5668\u4eba\u5728\u8fd0\u52a8\u8fc7\u7a0b\u4e2d\u66f4\u52a0\u9ad8\u6548\u548c\u5b89\u5168\u3002\u53ef\u4ee5\u901a\u8fc7\u8f6f\u4ef6\u5de5\u5177\u6216\u7f16\u7a0b\u65b9\u6cd5\u6765\u5b9e\u73b0\u3002<\/p>\n<p>; \u8f68\u8ff9\u4f18\u5316\u793a\u4f8b<\/p>\n<p>P[1] &#061; {X 100, Y 100, Z 100, W 0, P 0, R 0} ; \u8d77\u70b9<\/p>\n<p>P[2] &#061; {X 150, Y 150, Z 150, W 0, P 0, R 0} ; \u7b2c\u4e00\u4e2a\u4e2d\u95f4\u70b9<\/p>\n<p>P[3] &#061; {X 200, Y 200, Z 200, W 0, P 0, R 0} ; \u7ec8\u70b9<\/p>\n<p>; \u8bbe\u7f6e\u8f68\u8ff9\u4f18\u5316\u53c2\u6570<\/p>\n<p>OPTIMIZE 1 ; \u5f00\u542f\u8f68\u8ff9\u4f18\u5316<\/p>\n<p>; \u6267\u884c\u8f68\u8ff9\u4f18\u5316<\/p>\n<p>L P[1] 500mm\/sec FINE<\/p>\n<p>L P[2] 500mm\/sec FINE<\/p>\n<p>L P[3] 500mm\/sec FINE<\/p>\n<h4>\u591a\u8f74\u8054\u52a8<\/h4>\n<p>\u591a\u8f74\u8054\u52a8\u662f\u6307\u591a\u4e2a\u8f74\u540c\u65f6\u8fd0\u52a8&#xff0c;\u4ee5\u5b9e\u73b0\u66f4\u590d\u6742\u7684\u52a0\u5de5\u4efb\u52a1\u3002\u901a\u8fc7\u591a\u8f74\u8054\u52a8&#xff0c;\u673a\u5668\u4eba\u53ef\u4ee5\u5728\u591a\u4e2a\u7ef4\u5ea6\u4e0a\u540c\u65f6\u8fdb\u884c\u7cbe\u786e\u63a7\u5236&#xff0c;\u4ece\u800c\u63d0\u9ad8\u52a0\u5de5\u6548\u7387\u548c\u8d28\u91cf\u3002\u591a\u8f74\u8054\u52a8\u53ef\u4ee5\u901a\u8fc7\u7f16\u7a0b\u65b9\u6cd5\u6765\u5b9e\u73b0&#xff0c;\u6307\u5b9a\u54ea\u4e9b\u8f74\u53c2\u4e0e\u8054\u52a8\u3002<\/p>\n<p>; \u591a\u8f74\u8054\u52a8\u793a\u4f8b<\/p>\n<p>P[1] &#061; {X 100, Y 100, Z 100, W 0, P 0, R 0} ; \u8d77\u70b9<\/p>\n<p>P[2] &#061; {X 150, Y 150, Z 150, W 0, P 0, R 0} ; \u7b2c\u4e00\u4e2a\u4e2d\u95f4\u70b9<\/p>\n<p>P[3] &#061; {X 200, Y 200, Z 200, W 0, P 0, R 0} ; \u7ec8\u70b9<\/p>\n<p>; \u8bbe\u7f6e\u591a\u8f74\u8054\u52a8\u53c2\u6570<\/p>\n<p>AXIS 1-6 ; \u6307\u5b9a\u53c2\u4e0e\u8054\u52a8\u7684\u8f74<\/p>\n<p>; \u6267\u884c\u591a\u8f74\u8054\u52a8<\/p>\n<p>L P[1] 500mm\/sec FINE ; \u4ece\u5f53\u524d\u4f4d\u7f6e\u79fb\u52a8\u5230\u8d77\u70b9<\/p>\n<p>L P[2] 500mm\/sec FINE ; \u4ece\u8d77\u70b9\u79fb\u52a8\u5230\u7b2c\u4e00\u4e2a\u4e2d\u95f4\u70b9<\/p>\n<p>L P[3] 500mm\/sec FINE ; \u4ece\u7b2c\u4e00\u4e2a\u4e2d\u95f4\u70b9\u79fb\u52a8\u5230\u7ec8\u70b9<\/p>\n<h4>\u5b9e\u9645\u5e94\u7528\u4e2d\u7684\u6ce8\u610f\u4e8b\u9879<\/h4>\n<p>\u5728\u5b9e\u9645\u5e94\u7528\u4e2d&#xff0c;\u8fd0\u52a8\u63a7\u5236\u7f16\u7a0b\u9700\u8981\u8003\u8651\u4ee5\u4e0b\u51e0\u70b9&#xff1a;<\/p>\n<li>\n<p>\u73af\u5883\u56e0\u7d20&#xff1a;\u786e\u4fdd\u673a\u5668\u4eba\u5de5\u4f5c\u73af\u5883\u7684\u5b89\u5168&#xff0c;\u907f\u514d\u969c\u788d\u7269\u548c\u78b0\u649e\u3002<\/p>\n<\/li>\n<li>\n<p>\u5de5\u5177\u8d1f\u8f7d&#xff1a;\u6839\u636e\u52a0\u5de5\u4efb\u52a1\u7684\u4e0d\u540c&#xff0c;\u8bbe\u7f6e\u5408\u9002\u7684\u5de5\u5177\u8d1f\u8f7d\u53c2\u6570&#xff0c;\u4ee5\u4fdd\u8bc1\u673a\u5668\u4eba\u7684\u7a33\u5b9a\u6027\u548c\u7cbe\u5ea6\u3002<\/p>\n<\/li>\n<li>\n<p>\u7f16\u7a0b\u8c03\u8bd5&#xff1a;\u5728\u6b63\u5f0f\u8fd0\u884c\u524d&#xff0c;\u8fdb\u884c\u5145\u5206\u7684\u7f16\u7a0b\u8c03\u8bd5&#xff0c;\u786e\u4fdd\u8def\u5f84\u548c\u53c2\u6570\u7684\u6b63\u786e\u6027\u3002<\/p>\n<\/li>\n<li>\n<p>\u6545\u969c\u5904\u7406&#xff1a;\u8bbe\u7f6e\u6545\u969c\u5904\u7406\u7a0b\u5e8f&#xff0c;\u4ee5\u4fbf\u5728\u8fd0\u52a8\u8fc7\u7a0b\u4e2d\u51fa\u73b0\u5f02\u5e38\u65f6\u80fd\u591f\u53ca\u65f6\u505c\u6b62\u5e76\u8fdb\u884c\u5904\u7406\u3002<\/p>\n<\/li>\n<h4>\u7efc\u5408\u5b9e\u4f8b<\/h4>\n<h5>\u94a3\u91d1\u52a0\u5de5\u4efb\u52a1\u7684\u8fd0\u52a8\u63a7\u5236\u7f16\u7a0b<\/h5>\n<p>\u5047\u8bbe\u6211\u4eec\u9700\u8981\u673a\u5668\u4eba\u5b8c\u6210\u4e00\u4e2a\u94a3\u91d1\u52a0\u5de5\u4efb\u52a1&#xff0c;\u4efb\u52a1\u8def\u5f84\u5305\u62ec\u8d77\u70b9\u3001\u591a\u4e2a\u52a0\u5de5\u70b9\u548c\u7ec8\u70b9\u3002\u4e3a\u4e86\u786e\u4fdd\u52a0\u5de5\u7684\u7cbe\u786e\u6027\u548c\u6548\u7387&#xff0c;\u6211\u4eec\u9700\u8981\u8fdb\u884c\u70b9\u5230\u70b9\u8fd0\u52a8\u3001\u8fde\u7eed\u8def\u5f84\u8fd0\u52a8\u548c\u5706\u5f27\u8fd0\u52a8\u7684\u7ec4\u5408\u3002<\/p>\n<p>; \u94a3\u91d1\u52a0\u5de5\u4efb\u52a1\u793a\u4f8b<\/p>\n<p>P[1] &#061; {X 100, Y 100, Z 100, W 0, P 0, R 0} ; \u8d77\u70b9<\/p>\n<p>P[2] &#061; {X 150, Y 150, Z 150, W 0, P 0, R 0} ; \u7b2c\u4e00\u4e2a\u52a0\u5de5\u70b9<\/p>\n<p>P[3] &#061; {X 200, Y 200, Z 150, W 0, P 0, R 0} ; \u7b2c\u4e8c\u4e2a\u52a0\u5de5\u70b9<\/p>\n<p>P[4] &#061; {X 250, Y 250, Z 200, W 0, P 0, R 0} ; \u7b2c\u4e09\u4e2a\u52a0\u5de5\u70b9<\/p>\n<p>P[5] &#061; {X 300, Y 300, Z 200, W 0, P 0, R 0} ; \u7ec8\u70b9<\/p>\n<p>; \u8bbe\u7f6e\u901f\u5ea6\u548c\u52a0\u901f\u5ea6<\/p>\n<p>SPEED 300mm\/sec<\/p>\n<p>ACCEL 2000mm\/sec^2<\/p>\n<p>; \u6267\u884c\u94a3\u91d1\u52a0\u5de5\u4efb\u52a1<\/p>\n<p>J P[1] 300mm\/sec FINE ; \u4ece\u5f53\u524d\u4f4d\u7f6e\u79fb\u52a8\u5230\u8d77\u70b9<\/p>\n<p>L P[2] 300mm\/sec FINE ; \u4ece\u8d77\u70b9\u79fb\u52a8\u5230\u7b2c\u4e00\u4e2a\u52a0\u5de5\u70b9<\/p>\n<p>L P[3] 300mm\/sec FINE ; 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MH50\u673a\u5668\u4eba\u4e0a\u8fdb\u884c\u8fd0\u52a8\u63a7\u5236\u7f16\u7a0b&#xff0c;\u9700\u8981\u638c\u63e1\u70b9\u5230\u70b9&#xff08;PTP&#xff09;\u8fd0\u52a8\u3001\u8fde\u7eed\u8def\u5f84&#xff08;CP&#xff09;\u8fd0\u52a8\u548c\u5706\u5f27\u8fd0\u52a8&#xff08;CIRC&#xff09;\u7b49\u57fa\u672c\u6307\u4ee4&#xff0c;\u5e76\u5408\u7406\u8bbe\u7f6e\u901f\u5ea6\u3001\u52a0\u901f\u5ea6\u548c\u5b9a\u4f4d\u7cbe\u5ea6\u7b49\u53c2\u6570\u3002\u8def\u5f84\u89c4\u5212\u662f\u8fd0\u52a8\u63a7\u5236\u7684\u6838\u5fc3&#xff0c;\u901a\u8fc7\u5408\u7406\u7684\u70b9\u5b9a\u4e49\u548c\u8def\u5f84\u8fde\u63a5&#xff0c;\u53ef\u4ee5\u63d0\u9ad8\u52a0\u5de5\u6548\u7387\u548c\u8d28\u91cf\u3002\u5728\u5b9e\u9645\u5e94\u7528\u4e2d&#xff0c;\u8fd8\u9700\u8981\u6ce8\u610f\u73af\u5883\u56e0\u7d20\u3001\u5de5\u5177\u8d1f\u8f7d\u3001\u7f16\u7a0b\u8c03\u8bd5\u548c\u6545\u969c\u5904\u7406\u7b49\u65b9\u9762&#xff0c;\u4ee5\u786e\u4fdd\u673a\u5668\u4eba\u80fd\u591f\u5b89\u5168\u3001\u9ad8\u6548\u5730\u5b8c\u6210\u4efb\u52a1\u3002<\/p>\n<h4>\u8fdb\u4e00\u6b65\u5b66\u4e60\u8d44\u6e90<\/h4>\n<p>\u5bf9\u4e8e\u66f4\u6df1\u5165\u7684\u5b66\u4e60\u548c\u5e94\u7528&#xff0c;\u5efa\u8bae\u53c2\u8003\u4ee5\u4e0b\u8d44\u6e90&#xff1a;<\/p>\n<ul>\n<li>\n<p>\u5b98\u65b9\u6587\u6863&#xff1a;Yaskawa Motoman\u7684\u5b98\u65b9\u7f16\u7a0b\u624b\u518c\u548c\u7528\u6237\u6307\u5357\u3002<\/p>\n<\/li>\n<li>\n<p>\u5728\u7ebf\u8bfe\u7a0b&#xff1a;\u4e00\u4e9b\u5728\u7ebf\u5b66\u4e60\u5e73\u53f0\u63d0\u4f9b\u673a\u5668\u4eba\u7f16\u7a0b\u548c\u8fd0\u52a8\u63a7\u5236\u7684\u76f8\u5173\u8bfe\u7a0b\u3002<\/p>\n<\/li>\n<li>\n<p>\u5b9e\u8df5\u9879\u76ee&#xff1a;\u901a\u8fc7\u5b9e\u9645\u9879\u76ee\u7ec3\u4e60&#xff0c;\u53ef\u4ee5\u66f4\u597d\u5730\u7406\u89e3\u548c\u638c\u63e1\u8fd0\u52a8\u63a7\u5236\u7f16\u7a0b\u6280\u5de7\u3002<\/p>\n<\/li>\n<\/ul>\n<p>\u5e0c\u671b\u672c\u8282\u5185\u5bb9\u80fd\u591f\u5e2e\u52a9\u60a8\u66f4\u597d\u5730\u7406\u89e3\u548c\u5e94\u7528Yaskawa Motoman MH50\u673a\u5668\u4eba\u7684\u8fd0\u52a8\u63a7\u5236\u7f16\u7a0b\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u6587\u7ae0\u6d4f\u89c8\u9605\u8bfb873\u6b21\uff0c\u70b9\u8d5e9\u6b21\uff0c\u6536\u85cf8\u6b21\u3002\u5728\u8def\u5f84\u89c4\u5212\u4e2d\uff0c\u9996\u5148\u9700\u8981\u5b9a\u4e49\u4e00\u7cfb\u5217\u7684\u70b9\u3002\u8fd9\u4e9b\u70b9\u53ef\u4ee5\u662f\u52a0\u5de5\u70b9\u3001\u8fc7\u6e21\u70b9\u6216\u5b89\u5168\u70b9\u3002\u70b9\u7684\u5b9a\u4e49\u53ef\u4ee5\u901a\u8fc7\u5750\u6807\u7cfb\u6216\u5173\u8282\u89d2\u5ea6\u6765\u5b9e\u73b0\u3002;\u5b9a\u4e49\u70b9\u793a\u4f8b\u5750\u6807\u7cfb\u5b9a\u4e49\u70b9\u5173\u8282\u89d2\u5ea6\u5b9a\u4e49\u70b9\u5728Yaskawa Motoman 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