机器人原位及信号的输出1.建立一个输出信号doRobotHome单元:Board11地址:39AccessLevel:ReadOnly;2.在user模块里面写入如下程序CONSTjointtargetjHomePos:=[[0,-33,8.66,0,30,0],[9E9,9E9,9E9,9E9,9E9,9E9]];CONSTjointtargetDeltapos:=[[0.2,0.2,0.2,0.2,0.2,0.2],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];VARshapedatashHomPos;PERSwzstationaryRectangle1:=[1];PROCrPowerUp()WZHomeJointDef\Inside,shHomPos,jHomePos,Deltapos;WZDOSet\Stat,Rectangle1\Inside,shHomPos,doRobotHome,1;ENDPROC3.在[配置][controller]主题内【EventRoutine】内新建4.重新启动5.以后每次机器人运动到jHomePos的位置,即输出doRobotHome为1.6.每当修改jHomePos值后,需要重启才能功能生效。