ABB機器人程序實例

1、實用標準文案MODULE MainModuleCONSTrobtargetpHome:=1525.42,272.18,1873.69,4.42963E-05,0.699969,-0.7141 73,-2.80277E-05,0,-1,-1,0,9E+09,9E+09,9E+09,9E+09,9E+09,9 E+09;CONSTrobtargetpPrePickMould:=1653.99,272.19,1779.41,5.83312E-05,0.69997, -0.714172,-3.47922E-05,0,-1,-1,0,9E+09,9E+09,9E+09,9E+09,9 E+09,9E+0

2、9;CONSTrobtargetpPrePickClapboard:=2036.17,-741.24,1235.05,0.678651,0.73435 ,-0.0119011,0.00467586,-1,-2,2,0,9E+09,9E+09,9E+09,9E+09,9 E+09,9E+09;CONSTrobtargetpPickMould:=1943.13,173.08,630.89,4.66987E-05,0.699977,-0.7 14166,-3.24109E-05,0,-1,-1,0,9E+09,9E+09,9E+09,9E+09,9E+0 9,9E+09;CONSTrobtarget

3、pPickClapboard:=1943.19,173.08,620.72,1.61422E-05,0.699977, -0.714165,-7.62858E-06,0,-1,-1,0,9E+09,9E+09,9E+09,9E+09,9 E+09,9E+09;CONSTrobtarget pPrePlace:=785.90,-957.40,1722.38,0.00231652,0.0492402,-0.99 8779,-0.00310842,-1,-1,-1,0,9E+09,9E+09,9E+09,9E+09,9E+09, 9E+09;CONSTrobtargetpPrePlace10:=-2

4、77.40,-1202.57,1621.17,0.00183571,-0.0139794, -0.999895,-0.00341408,-2,-1,-2,0,9E+09,9E+09,9E+09,9E+09,9 E+09,9E+09;CONSTrobtargetpPrePlace20:=-491.18,-1082.85,1505.90,0.000663644,0.69408,0. 719887,0.00386364,-2,0,-1,0,9E+09,9E+09,9E+09,9E+09,9E+09 ,9E+09;CONSTrobtargetpPlaceMould:=-92.13,-2580.19,1

5、171.45,0.000771646,0.713144,0 .701007,0.00383692,-2,0,-1,0,9E+09,9E+09,9E+09,9E+09,9E+0 9,9E+09;CONSTrobtargetpPlaceClapboard:=1585.08,1761.04,787.33,0.00645323,-0.00552 996,-0.726358,-0.687263,0,1,-1,0,9E+09,9E+09,9E+09,9E+09,9 E+09,9E+09;CONSTrobtargetpPrePlaceClapboard:=1017.30,955.85,1443.17,1.0

6、621E-05,-0.00 849593,-0.999964,4.01139E-05,0,-1,0,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09;CONSTrobtargetpPrePickClapboard10:=2257.17,-841.03,1579.56,0.667517,0.744 57,-0.00360206,0.00487631,-1,-1,2,0,9E+09,9E+09,9E+09,9E+0 9,9E+09,9E+09;CONSTrobtargetpPrePickMould10:=530.24,-1703.27,1762.63,5.07659E-0

7、5,0.961 61,0.274421,2.37287E-05,-1,0,0,0,9E+09,9E+09,9E+09,9E+09,9 E+09,9E+09;CONST num nOffs:=100;PERS num nCurOffs:=100;CONST num nLayer:=0;PERS num nCurLayer:=0;CONST num nThickness:=40;VAR bool bTimeOut:=FALSE;PERS bool bDryCycle:=FALSE;VAR intnum iDryCycle;VAR intnum iResDryCycle;VAR intnum iVa

8、cuum;PERStooldata tGripper:=TRUE,0,0,100,1,0,0,0,88.5,-3.7,-1.4,132.1,1,0,0,0,5.5,17.831,25.067;PROC main()rInitAll;WHILE TRUE DOIF siDryCycle=1 or nCurLayer<1 then rPickClapboard;ELSErPickMould;ENDIFWaittime 0.2;ENDWHILEENDPROCPROC rPickMould()DIWait diMouldready,1,3,"entrance Conveyer"

9、;,"ready for pick"DIWait diPlaceReady,1,3,"exit Conveyer","ready for remove"MoveJ pPrePickMould, v1500, z50, tGripper;IF BitCheck(nCurlayer,1) THENnCurOffs:=nOffs;ELSEnCurOffs:=-nOffs;ENDIFMoveLoffs(pPickMould,0,nCurOffs,100+nCurLayer*nThickness), v1000, z50, tGripper;M

10、oveLoffs(pPickMould,0,nCurOffs,(nCurLayer-1)*nThickness), v200, fine, tGripper;GripClose;Decr nCurLayer;MoveLoffs(pPickMould,0,nCurOffs,100+nCurLayer*nThickness), v200, z50, tGripper;MoveJ pPrePickMould, v1000, z50, tGripper;DIWait diPlaceReady,1,3,"exit Conveyer","ready for remove&qu

11、ot;MoveJ pPrePlace10, v1500, z10, tGripper;MoveL offs(pPlaceMould,0,0,100), v1500, z10, tGripper;MoveL pPlaceMould, v200, fine, tGripper;GripOpen;MoveL offs(pPlaceMould,0,0,100), v200, z10, tGripper;MoveL pPrePlace10, v1500, z10, tGripper;MoveJ pPrePickMould, v1500, z10, tGripper;PulseDOPLength:=2,

12、doMouldPlaceOK;ENDPROCPROC rPickClapboard()DIWait diMouldready,1,3,"entrance Conveyer","ready for pick"MoveL offs(pPickClapboard,0,0,100), v1000, z50, tGripper;MoveL pPickClapboard, v200, fine, tGripper;GripClose;MoveL offs(pPickClapboard,0,0,100) ,v200, z50, tGripper;MoveL offs(

13、pPickClapboard,0,0,500) ,v1000, z50, tGripper;MoveL pPrePlaceClapboard, v1000, z10, tGripper;DIWait diClapboardReady, 1, 3, "exit Conveyer", "ready for remove"MoveL offs(pPlaceClapboard,-700,-200,250), v1000, z10, tGripper;文檔大全實用標準文案MoveL offs(pPlaceClapboard,00,-10,100), v1000,

14、z10, tGripper;MoveL pPlaceClapboard, v100, fine, tGripper;GripOpen;MoveL offs(pPlaceClapboard,0,-50,100), v1000, z10, tGripper;MoveL offs(pPlaceClapboard,-700,-200,250), v1000, z10, tGripper;MoveL pPrePlaceClapboard, v1000, z10, tGripper;PulseDOPLength:=1.0, doClapboardPickOK;MoveJ pHome, v1500, fin

15、e, tGripper;PulseDOPLength:=1.0, doUnStackOk;WaitTime 2;DIWait diMouldready,0,3,"exit Conveyer","ready for remove"nCurLayer:=nLayer;ENDPROCPROC rInitAll()IF diVacuum1=0 THENWaitTime 1;ELSE文檔大全實用標準文案ErrWrite "The Rob1 gripper error! " ,"The gripper is not opened!&qu

16、ot;RL2:="Check the gripper signal postion ."RL3:=" open the gripper manually and take away the part from gripper."Stop;Exit;ENDIFrMoveHome;nCurLayer:=nLayer;IDelete iVacuum;CONNECT iVacuum WITH tLostPart;ISignalDI diVacuum1, 1, iVacuum;ISleep iVacuum;ENDPROCROC GripClose()SetDO d

17、oVacuum,1;SetDO doBlow,0;WaitUntildiVacuum1=1MaxTime:=10TimeFlag:=bTimeOut;IF bTimeOut THENErrWrite "Rob Gripper Signal error ! " ,"Fatal error inGripper"RL2:="Check the gripper signal postion ."RL3:=" change a new sensor ."Stop;ENDIFWaittime 0.5;IWatch iVacuu

18、m;ENDPROCPROC GripOpen()ISleep iVacuum;SetDO doVacuum,0;PulseDO PLength:=2.0, doBlow;WaitUntildiVacuum1=0MaxTime:=5TimeFlag:=bTimeOut;IF bTimeOut THENErrWrite "Rob Gripper Signal error ! " ,"Fatal error in Gripper"RL2:="Check the gripper signal postion ."RL3:=" cha

19、nge a new sensor ."Stop;ENDIFWaittime 0.5;ENDPROCPROC rMoveHome()文檔大全實用標準文案VAR string HomeOffset;CONST num MinX:=-500;CONST num MaxX:=500;CONST num MinY:=-500;CONST num MaxY:=500;CONST num MinZ:=500;CONST num MaxZ:=1200;VAR robtarget ActualPos;VelSet 100,500;AccSet 70, 70;IF bCurrentPos(pHome,t

20、Gripper,50)=TRUE THENMoveJ pHome,v500,fine,tGripperWObj:=wobj0;ENDIFIF bCurrentPos(pPrePickMould,tGripper,50wobj:=Wobj0)=TRUE THENMoveJ pHome,v500,fine,tGripperWObj:=wobj0;ENDIFIFbCurrentPos(pPrePickClapboard,tGripper,100wobj:=Wobj0)=TRUE THENMoveJ pHome,v500,fine,tGripperWObj:=wobj0;IF bCurrentPos(

21、pPreplace,tGripper,100wobj:=Wobj0)= TRUE THENMoveJ pHome,v500,fine,tGripperWObj:=wobj0;ENDIFIF bCurrentPos(pHome,tGripper,100)=FALSE THEN! If no known position is found, check if the robot is in a specified! window and move him to the first position in the programActualPos:=CRobT(Tool:=tGripperWObj:

22、=wobj0);IF ActualPos.trans.x<MinX OR ActualPos.trans.x>MaxXOR ActualPos.trans.y<MinY OR ActualPos.trans.y>MaxY OR ActualPos.trans.z<MinZ OR ActualPos.trans.z>MaxZ THENHomeOffset:=""IF ActualPos.trans.x<MinX THENHomeOffset:=HomeOffset+"X :"+NumToStr(MinX-Actua

23、lPos.trans. x,0)+" "ELSEIF ActualPos.trans.x>MaxX THENHomeOffset:=HomeOffset+"X :"+NumToStr(MaxX-ActualPos.trans .x,0)+" "HomeOffset:=HomeOffset+"X : OK "ENDIFIF ActualPos.trans.y<MinY THENHomeOffset:=HomeOffset+"Y :"+NumToStr(MinY-ActualPos.tr

24、ans. y,0)+" "ELSEIF ActualPos.trans.y>MaxY THENHomeOffset:=HomeOffset+"Y :"+NumToStr(MaxY-ActualPos.trans .y,0)+" "ELSEHomeOffset:=HomeOffset+"Y : OK "ENDIFIF ActualPos.trans.z<MinZ THENHomeOffset:=HomeOffset+"Z :"+NumToStr(MinZ-ActualPos.trans. z,0)+&quo