important; word-wrap: break-word !important;">PROC press1()important; word-wrap: break-word !important;">
important; word-wrap: break-word !important;">PERS loaddata TestLoad:=[0.001,[0,0,0.001],[1,0,0,0],0,0,0];important; word-wrap: break-word !important;">
important; word-wrap: break-word !important;">! Identify the load using the sensorimportant; word-wrap: break-word !important;">TestLoad:=FCLoadID();important; word-wrap: break-word !important;">MoveJ offs(B,0,0,2) , v100, fine, tool0;important; word-wrap: break-word !important;">! 移动接近接触的位置，例如途中的A位置important; word-wrap: break-word !important;">! start 2mm above contactpoint （图中的A位置）important; word-wrap: break-word !important;">FCCalib TestLoad;important; word-wrap: break-word !important;">! 校准Sensorimportant; word-wrap: break-word !important;">FCPress1LStart C, v100, \Fz:=60, 50, z30, myTool;important; word-wrap: break-word !important;">! Approach surface and start move to robtarget C at 50% of 60 N i.e 30 Nimportant; word-wrap: break-word !important;">! 图中A和C为编程点，机器人实际会从A开始往接触面移动，直到达到设定力（60N）的50%（以上语句设置）后开始往C移动important; word-wrap: break-word !important;">FCPressL D1,v100,50,z30,myTool;important; word-wrap: break-word !important;">! 从C往D方向直线移动，保持工具Z方向的力为50Nimportant; word-wrap: break-word !important;">FCPressL D2,v100,70,z30,myTool;important; word-wrap: break-word !important;">! Move Linear from D1 to D2 with a Force of 70 N in theimportant; word-wrap: break-word !important;">! z-directionimportant; word-wrap: break-word !important;">FCPressEnd E, v100,myTool;important; word-wrap: break-word !important;">! Leave surface and move to robtarget E, Force controlimportant; word-wrap: break-word !important;">! is disabled after this instructionimportant; word-wrap: break-word !important;">ENDPROC

important; word-wrap: break-word !important;">FCPress1LStart B, v100, 70, z30 \UseSpdFFW, tool1;important; word-wrap: break-word !important;">FCPressL C, v100, 0, z30, tool1;important; word-wrap: break-word !important;">FCPressL D, v100, 0, z30, tool1;important; word-wrap: break-word !important;">FCPressL E, v100, 70, z30, tool1; 
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                    本文摘自：ABB机器人实战技巧微信公众号    时间：2021-06-01