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1、職業(yè)教育機(jī)電一體化專業(yè)教學(xué)資源庫(kù)課 程 案 例課程名稱：工業(yè)機(jī)器人調(diào)試編 制 人：王曉勇郵 箱：電 話：編制時(shí)間：2014.7.6 編制單位：南京工業(yè)職業(yè)技術(shù)學(xué)院案例27說(shuō)明：功能：此案例的工件為一根曲軸，機(jī)器人按一般程序加工時(shí)，機(jī)器人的關(guān)節(jié)運(yùn)動(dòng)幅度比較大，此案例采用機(jī)器人與變位機(jī)一起運(yùn)動(dòng)，使得機(jī)器人焊接變得更加簡(jiǎn)單高效；運(yùn)動(dòng)軌跡編程過(guò)程：1、 規(guī)劃運(yùn)動(dòng)路徑；2、此案例一共定義24（包括變位機(jī)的示教目標(biāo)點(diǎn)）個(gè)TCP目標(biāo)點(diǎn)，通過(guò)示教器示教并保存在程序數(shù)據(jù)中；3、設(shè)置機(jī)器人啟動(dòng)信號(hào)di01；4、 編寫(xiě)程序；5、 調(diào)試程序；程序及注釋：案例27 機(jī)器人工作站示意圖案例27 機(jī)器人程序：MODULE

2、MainModuleCONST robtarget p10:=1189.22,-96.52,1030.01,0.370059,0.098735,0.892525,0.238134,-1,0,-1,0,-5,9E+09,9E+09,9E+09,9E+09,9E+09;CONST robtarget p20:=1185.92,-24.26,920.03,0.370058,0.0987353,0.892525,0.238134,-1,0,-1,0,-5,9E+09,9E+09,9E+09,9E+09,9E+09;CONST robtarget p30:=1185.92,-24.26,920.03,0

3、.370058,0.0987353,0.892525,0.238134,-1,0,-1,0,-5,9E+09,9E+09,9E+09,6.11808E-05,9E+09;CONST robtarget p40:=1185.92,-131.94,1080.81,0.370059,0.0987354,0.892524,0.238134,-1,0,-1,0,-5,9E+09,9E+09,9E+09,6.11808E-05,9E+09;CONST robtarget p50:=1052.91,5.00,1427.50,0.5,-5.73546E-09,0.866025,-3.31137E-09,0,0

4、,-1,0,-5,9E+09,9E+09,9E+09,6.11808E-05,9E+09;CONST robtarget p60:=1052.91,-537.28,1427.50,0.5,-8.96166E-09,0.866025,-5.17401E-09,0,0,-1,0,537.284,9E+09,9E+09,9E+09,6.11808E-05,9E+09;CONST robtarget p70:=1115.12,-343.24,1240.79,0.48536,-0.120105,0.840669,-0.208028,0,-1,0,0,537.284,9E+09,9E+09,9E+09,6

5、.11808E-05,9E+09;CONST robtarget p80:=1232.15,-372.35,1147.21,0.320538,-0.1567,0.916272,-0.182061,0,-1,0,0,537.284,9E+09,9E+09,9E+09,6.11808E-05,9E+09;CONST robtarget p100:=1214.22,-374.54,767.68,0.320538,-0.156701,0.916272,-0.182062,0,-1,0,0,537.284,9E+09,9E+09,9E+09,180,9E+09;CONST robtarget p90:=

6、1022.34,-373.43,956.25,0.320538,-0.1567,0.916272,-0.182061,0,-1,0,0,537.284,9E+09,9E+09,9E+09,90.0001,9E+09;CONST robtarget p120:=1208.28,-374.54,1149.15,0.320537,-0.1567,0.916272,-0.182061,0,-1,0,0,537.284,9E+09,9E+09,9E+09,360,9E+09;CONST robtarget p110:=1410.77,-374.54,957.39,0.320538,-0.156701,0

7、.916272,-0.182062,0,-1,0,0,537.284,9E+09,9E+09,9E+09,270,9E+09;CONST robtarget p130:=1208.28,-374.53,1221.19,0.320537,-0.1567,0.916272,-0.182061,0,-1,0,0,537.284,9E+09,9E+09,9E+09,360,9E+09;CONST robtarget p140:=1052.91,-537.28,1427.50,0.5,-5.73546E-09,0.866025,-3.31137E-09,0,0,-1,0,537.284,9E+09,9E

8、+09,9E+09,360,9E+09;CONST robtarget p150:=1052.91,-1694.21,1427.50,0.5,-1.21879E-08,0.866025,-7.03666E-09,0,0,-1,0,1694.21,9E+09,9E+09,9E+09,360,9E+09;CONST robtarget p160:=1199.40,-1524.77,1058.53,0.345531,-0.0817249,0.909742,-0.215173,0,-1,0,0,1694.21,9E+09,9E+09,9E+09,360,9E+09;CONST robtarget p1

9、70:=1199.95,-1587.09,841.36,0.344797,-0.0818987,0.91002,-0.215107,0,-1,0,0,1694.21,9E+09,9E+09,9E+09,360,9E+09;CONST robtarget p190:=1204.83,-1588.35,1051.68,0.344797,-0.0818987,0.91002,-0.215107,0,-1,0,0,1694.21,9E+09,9E+09,9E+09,180,9E+09;CONST robtarget p180:=1098.79,-1587.09,939.65,0.344797,-0.0

10、818991,0.91002,-0.215107,0,-1,0,0,1694.21,9E+09,9E+09,9E+09,270,9E+09;CONST robtarget p210:=1199.00,-1588.35,838.21,0.344797,-0.0818976,0.91002,-0.215106,0,-1,0,0,1694.21,9E+09,9E+09,9E+09,0.000110428,9E+09;CONST robtarget p200:=1304.33,-1588.35,941.08,0.344797,-0.0818984,0.91002,-0.215106,0,-1,0,0,

11、1694.21,9E+09,9E+09,9E+09,90.0001,9E+09;CONST robtarget p220:=1199.00,-1463.58,1028.83,0.344798,-0.0818975,0.91002,-0.215106,0,-1,0,0,1694.21,9E+09,9E+09,9E+09,0.000110428,9E+09;CONST robtarget p230:=1052.91,-1694.21,1427.50,0.5,-5.73546E-09,0.866025,-3.31137E-09,0,0,-1,0,1694.21,9E+09,9E+09,9E+09,0

12、.000110428,9E+09;CONST robtarget p240:=1052.91,5.00,1427.50,0.5,-8.96166E-09,0.866025,-5.17401E-09,0,0,-1,0,-5,9E+09,9E+09,9E+09,0.000110428,9E+09;PROC main()WHILE TRUE DO WaitDI di01,1;WaitTime 0.3;ENDWHILEMoveJ p10, v500, z1, tWeldGunWObj:=wobj2;MoveL p20, v300, z1, tWeldGunWObj:=wobj2;ActUnit STN

13、1;MoveJ p30, v5, z1, tWeldGunWObj:=wobj2;DeactUnit STN1;MoveL p40, v300, z1, tWeldGunWObj:=wobj2;MoveJ p50, v400, z1, tWeldGunWObj:=wobj2;MoveJ p60, v800, z1, tWeldGunWObj:=wobj2;MoveJ p70, v400, z1, tWeldGunWObj:=wobj2;MoveL p80, v300, z1, tWeldGunWObj:=wobj2;ActUnit STN1;MoveC p90, p100, v150, z10

14、, tWeldGunWObj:=wobj2;MoveC p110, p120, v150, z10, tWeldGunWObj:=wobj2;DeactUnit STN1;MoveL p130, v300, z1, tWeldGunWObj:=wobj2;MoveJ p140, v300, z1, tWeldGunWObj:=wobj2;MoveJ p150, v800, z1, tWeldGunWObj:=wobj2;MoveJ p160, v500, z1, tWeldGunWObj:=wobj2;MoveL p170, v300, z1, tWeldGunWObj:=wobj2;ActUnit STN1;MoveC p180, p190, v150, z10, tWe

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