#主程序:# RoboDK v3.5生成的程序.5 for UR10 on 21/03/2019 17:49:30 # Using nominal kinematics. # set_reference(p[0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000]) accel_radss = 1.745 speed_rads = 3.491 accel_mss = 0.020 speed_ms = 1.000 movej([2.913304, -1.515644, 2.565459, -1.528036, 1.139875, 4.077438],accel_radss,speed_rads,0,0) movej([3.147527, -1.672025, 1.975189, -1.897871, 3.130248, 3.199712],accel_radss,speed_rads,0,blend_radius_m) while (get_standard_digital_in(1) != True): sync() end movej([3.147735, -1.238394, 1.449446, -1.824081, 3.130241, 3.181389],accel_radss,speed_rads,0,blend_radius_m) # End of main program end Prog4()