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process.xml
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<multi_process name="dedibot">
<assembly_line id="0" times="1">
<lock action="acquire" comment="放置打印平台开始打印"/>
<!--<claw action="open"/>-->
<!--<motion action="move_x" x="1800"/>-->
<!--<claw action="close"/>-->
<!--<motion action="move_x" x="25"/>-->
<!--<robot action="move_joint" joint0="-90.000000" joint1="0.000000" joint2="0.000000" joint3="0.000000" joint4="90.000000" joint5="0.00000"/>-->
<!--<robot action="move_joint" joint0="-90.000000" joint1="30.000000" joint2="90.000000" joint3="-30.000000" joint4="-90.000000" joint5="91.957248"/>-->
<!--<robot action="move_line" x="-118.96865240727046" y="-220.5580682043296" z="438.20344608262460"/>-->
<!--<robot actuin="move_line" x="-118.96865240727046" y="-550.0401109474463" z="438.20344608262460"/>-->
<!--<claw action="open"/>-->
<!--<robot action="move_line" x="-118.96865240727046" y="-550.0401109474463" z="388.84898008734875"/>-->
<!--<fdm action="start"/>-->
<!--<robot action="move_line" x="-118.96865240727046" y="-220.5580682043296" z="388.84898008734875"/>-->
<!--<lock action="release"/>-->
<!--<fdm action="start"/>-->
<!--<lock action="acquire" comment="打印完成后后处理"/>-->
<!--<motion action="move_x" x="30"/>-->
<!--<robot action="move_joint" joint0="-90.000000" joint1="30.000000" joint2="90.000000" joint3="-30.000000" joint4="-90.000000" joint5="90.000000"/>-->
<!--<robot action="move_line" x="-118.96865240727046" y="-220.5580682043296" z="388.84898008734875" joint5="90.000000"/>-->
<!--<robot action="move_line" x="-118.96865240727046" y="-550.0401109474463" z="388.84898008734875" joint5="90.000000"/>-->
<!--<claw action="open"/>-->
<!--<robot action="move_line" x="-118.96865240727046" y="-550.0401109474463" z="438.20344608262460" joint5="90.000000"/>-->
<!--<claw action="close"/>-->
<!--<robot action="move_line" x="-118.96865240727046" y="-220.5580682043296" z="438.20344608262460" joint5="90.000000"/>-->
<!--<lock action="release"/>-->
<!--<lock action="acquire"/>-->
<!--<motion action="move_x" x="1038" comment="CNC加工"/>-->
<!--<cnc action="open"/>-->
<!--<robot action="set_speed" jointacc="90" jointvelc="90" lineacc="1000" linevelc="1000" angleacc="90" anglevelc="90"/>-->
<!--<robot action="move_joint" joint0="-90.000000" joint1="20.000000" joint2="100.000000" joint3="80.000000" joint4="90.000000" joint5="90.000000"/>-->
<!--<robot action="move_pos" x="-119.0010000000000" y="-255.6280000000000" z="553.9970000000000"/>-->
<!--<robot action="move_line" x="-119.0010000000000" y="-388.1230000000000" z="553.9970000000000" joint5="90.000000"/>-->
<!--<robot action="move_line" x="-119.0010000000000" y="-388.1230000000000" z="620.6020000000000" joint5="90.000000"/>-->
<!--<robot action="set_speed" jointacc="1" jointvelc="2" lineacc="2" linevelc="1" angleacc="1" anglevelc="1"/>-->
<!--<robot action="move_line" x="-119.0950000000000" y="-387.9230000000000" z="628.6020000000000" joint5="90.000000"/>-->
<!--<robot action="move_arc" x="-119.0950000000000" y="-380.9730000000000" z="628.6020000000000" r="7.25" times="1"/>-->
<!--<cnc action="close"/>-->
<!--<robot action="set_speed" jointacc="90" jointvelc="90" lineacc="50" linevelc="50" angleacc="90" anglevelc="90"/>-->
<!--<robot action="move_line" x="-119.0010000000000" y="-387.9230000000000" z="500.9970000000000" joint5="90.000000"/>-->
<!--<robot action="move_line" x="-119.0010000000000" y="-255.6280000000000" z="500.9970000000000" joint5="90.000000"/>-->
<!--<robot action="move_joint" joint0="-90.000000" joint1="20.000000" joint2="100.000000" joint3="0.000000" joint4="-90.000000" joint5="90.000000"/>-->
<!--<motion action="move_x" x="1485"/>-->
<!--<robot action="move_joint" joint0="-90.000000" joint1="20.872081" joint2="112.445992" joint3="-0.116430" joint4="90.003786" joint5="90.00000"/>-->
<!--<robot action="move_line" x="-118.9940000000" y="-261.315000000000" z="301.5160000000000" joint5="90.000000"/>-->
<!--<robot action="move_line" x="-118.9940000000" y="-501.239000000000" z="301.5160000000000" joint5="90.000000"/>-->
<!--<robot action="move_line" x="-118.9940000000" y="-501.239000000000" z="220.5160000000000" joint5="90.000000"/>-->
<!--<robot action="move_line" x="-118.9940000000" y="-501.239000000000" z="301.5160000000000" joint5="90.000000"/>-->
<!--<robot action="move_line" x="-118.9940000000" y="-221.315000000000" z="301.5160000000000" joint5="90.000000"/>-->
<motion action="move_x" x="1690" comment="下料"/>
<robot action="move_joint" joint0="0.000000" joint1="0.000000" joint2="0.000000" joint3="0.000000" joint4="0.000000" joint5="-150.000000"/>
<robot action="move_joint" joint0="90.000000" joint1="-30.000000" joint2="-90.000000" joint3="30.000000" joint4="-90.000000" joint5="-150.000000"/>
<robot action="move_line" x="118.9940000000" y="-191.637000000000" z="421.6130000000000" joint5="-150.000000"/>
<robot action="move_line" x="118.9940000000" y="-397.252000000000" z="421.6130000000000" joint5="-150.000000"/>
<robot action="set_speed" jointacc="90" jointvelc="90" lineacc="10" linevelc="10" angleacc="1" anglevelc="1"/>
<robot action="move_line" x="118.9940000000" y="-397.252000000000" z="413.6130000000000" joint5="-150.000000"/>
<robot action="move_line" x="118.9940000000" y="-418.252000000000" z="413.6130000000000" joint5="-150.000000"/>
<robot action="set_speed" jointacc="90" jointvelc="90" lineacc="0.5" linevelc="0.1" angleacc="1" anglevelc="1"/>
<robot action="move_line" x="118.9940000000" y="-448.252000000000" z="413.6130000000000" joint5="-150.000000"/>
<robot action="set_speed" jointacc="90" jointvelc="90" lineacc="10" linevelc="10" angleacc="1" anglevelc="1"/>
<robot action="move_line" x="118.9940000000" y="-418.252000000000" z="413.6130000000000" joint5="-90.000000"/>
<robot action="set_speed" jointacc="90" jointvelc="90" lineacc="0.5" linevelc="0.1" angleacc="1" anglevelc="1"/>
<robot action="move_line" x="118.9940000000" y="-448.252000000000" z="413.6130000000000" joint5="-90.000000"/>
<robot action="set_speed" jointacc="90" jointvelc="90" lineacc="10" linevelc="10" angleacc="1" anglevelc="1"/>
<robot action="move_line" x="118.9940000000" y="-418.252000000000" z="413.6130000000000" joint5="-30.000000"/>
<robot action="set_speed" jointacc="90" jointvelc="90" lineacc="0.5" linevelc="0.1" angleacc="1" anglevelc="1"/>
<robot action="move_line" x="118.9940000000" y="-448.252000000000" z="413.6130000000000" joint5="-30.000000"/>
<robot action="set_speed" jointacc="90" jointvelc="90" lineacc="10" linevelc="10" angleacc="1" anglevelc="1"/>
<robot action="move_line" x="118.9940000000" y="-418.252000000000" z="413.6130000000000" joint5="30.000000"/>
<robot action="set_speed" jointacc="90" jointvelc="90" lineacc="0.5" linevelc="0.1" angleacc="1" anglevelc="1"/>
<robot action="move_line" x="118.9940000000" y="-448.252000000000" z="413.6130000000000" joint5="30.000000"/>
<robot action="set_speed" jointacc="90" jointvelc="90" lineacc="10" linevelc="10" angleacc="1" anglevelc="1"/>
<robot action="move_line" x="118.9940000000" y="-418.252000000000" z="413.6130000000000" joint5="90.000000"/>
<robot action="set_speed" jointacc="90" jointvelc="90" lineacc="0.5" linevelc="0.1" angleacc="1" anglevelc="1"/>
<robot action="move_line" x="118.9940000000" y="-448.252000000000" z="413.6130000000000" joint5="90.000000"/>
<robot action="set_speed" jointacc="90" jointvelc="90" lineacc="10" linevelc="10" angleacc="1" anglevelc="1"/>
<robot action="move_line" x="118.9940000000" y="-418.252000000000" z="413.6130000000000" joint5="150.000000"/>
<robot action="set_speed" jointacc="90" jointvelc="90" lineacc="0.5" linevelc="0.1" angleacc="1" anglevelc="1"/>
<robot action="move_line" x="118.9940000000" y="-448.252000000000" z="413.6130000000000" joint5="150.000000"/>
<robot action="set_speed" jointacc="90" jointvelc="90" lineacc="10" linevelc="10" angleacc="1" anglevelc="1"/>
<robot action="move_line" x="118.9940000000" y="-448.252000000000" z="421.6130000000000" joint5="90.000000"/>
<robot action="move_line" x="118.9940000000" y="-191.637000000000" z="421.6130000000000" joint5="90.000000"/>
<lock action="release"/>
</assembly_line>
</multi_process>