1:自定义机械手工具的编程
Function CalcTool(rx As Real, ry As Real, iToolNum As Integer)
'重新生成新的工件坐标
Real xTool, yTool, rTool, theta
Real x0, y0, u0
Tool 0
x0 = CX(Here) ‘当前位置的Tool 0 X坐标
y0 = CY(Here) ‘当前位置的Tool 0 X坐标
u0 = CU(Here) ‘当前位置的Tool 0 X坐标
xTool = rx - x0
yTool = ry - y0
theta = Atan2(xTool, yTool)
theta = theta - DegToRad(u0)
rTool = Sqr(xTool * xTool + yTool * yTool)
xTool = Cos(theta) * rTool
YTool = Sin(theta) * rTool
TLSet iToolNum, XY(xTool, yTool, 0, 0)
Fend
2图示
需要计算机械手旋转为0时的,工具与默认工具坐标的X，Y坐标偏移
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作者：hackpig
来源：www.skcircle.com
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