（中職） 工業(yè)機(jī)器人任務(wù)8 機(jī)器人搬運(yùn)手機(jī)入倉的程序設(shè)計(jì)與調(diào)試（ABB機(jī)器人）教學(xué)課件（）

（中職）工業(yè)機(jī)器人任務(wù)8機(jī)器人搬運(yùn)手機(jī)入倉的程序設(shè)計(jì)與調(diào)試（ABB機(jī)器人）教學(xué)課件（工信版）工作情景

一臺(tái)手機(jī)自動(dòng)化生產(chǎn)設(shè)備中由一臺(tái)三菱6軸機(jī)器人完成手機(jī)按鍵的組裝工作按鍵生產(chǎn)好后用托盤按照一定規(guī)律進(jìn)行排列，待裝配的手機(jī)放在固定的位置，現(xiàn)在工業(yè)機(jī)器人與PLC的線路已經(jīng)接好，請(qǐng)?jiān)O(shè)計(jì)PLC與工業(yè)機(jī)器人程序。任務(wù)描述

按鍵托盤按照規(guī)定的位置和方向放好，手機(jī)底座也在規(guī)定的位置放好后，在六軸機(jī)器人單元的操作面板上按下啟動(dòng)按鈕，工業(yè)機(jī)器人依次將手機(jī)按鍵從托盤中取出放到手機(jī)底座上。裝配好一個(gè)手機(jī)后更換夾具進(jìn)行加蓋操作并根據(jù)裝配結(jié)果分類放入倉庫，如果倉庫超過容量則暫停待清空倉庫后繼續(xù)。待換好手機(jī)底座和手機(jī)蓋后按下啟動(dòng)按鈕繼續(xù)運(yùn)行，循環(huán)四次后托盤中的按鍵全部裝配完成后停止。任務(wù)要求根據(jù)任務(wù)描述設(shè)計(jì)工業(yè)機(jī)器人程序和PLC程序。能力目標(biāo)?

了解工業(yè)機(jī)器人與PLC的配合；?

掌握工業(yè)機(jī)器人程序的編寫；?

掌握工業(yè)機(jī)器人在手機(jī)按鍵裝配加蓋入倉中的應(yīng)用；任務(wù)準(zhǔn)備一、理論知識(shí)準(zhǔn)備

合格與不合格的判斷，在產(chǎn)品生產(chǎn)過程中不可避免會(huì)產(chǎn)生不良品，出現(xiàn)不良品的時(shí)候必須將不良品篩選出來，根據(jù)不良品的情況進(jìn)行相應(yīng)的處理。而合格的產(chǎn)品則可以包裝好出貨。按鍵裝配過程中產(chǎn)生不良品的原因有1）原材料有不良品導(dǎo)致裝配好的產(chǎn)品不良2）裝配過程中由于吸盤等需定期更換的材料沒有及時(shí)更換導(dǎo)致少鍵等不良3）工作過程中的干擾因素導(dǎo)致的產(chǎn)品不良。任務(wù)準(zhǔn)備二、準(zhǔn)備工具

為完成工作任務(wù)，每個(gè)工作小組需要向工作站內(nèi)倉庫工作人員提供借用工具清單。序號(hào)名稱數(shù)量借出時(shí)間學(xué)生簽名歸還時(shí)間學(xué)生簽名管理員簽名備注

表9-5-1

工具借用清單任務(wù)準(zhǔn)備三、準(zhǔn)備材料

為完成工作任務(wù)，每個(gè)工作小組需要向工作站內(nèi)倉庫工作人員提供領(lǐng)用材料清單。序號(hào)名稱數(shù)量借出時(shí)間學(xué)生簽名歸還時(shí)間學(xué)生簽名管理員簽名備注

表9-5-2材料借用清單任務(wù)計(jì)劃?掌握好理論知識(shí)，完成任務(wù)要求；?小組共同分析、討論決策出最優(yōu)實(shí)施步驟方案；?再由組長進(jìn)行任務(wù)分工，完成機(jī)器人與PLC配合實(shí)現(xiàn)手機(jī)按鍵的程序設(shè)計(jì)和調(diào)試；任務(wù)實(shí)施一、根據(jù)控制要求分析動(dòng)作流程任務(wù)實(shí)施二、設(shè)計(jì)工業(yè)機(jī)器人程序1DefIoin6=Bit,62DefIoin7=Bit,73DefIoin8=Bit,84DefIoin9=Bit,95DefIoin10=Bit,106DefIoin11=Bit,117DefIoin13=Bit,138DefIoin14=Bit,149DefIoin15=Bit,1510DefIoout5=Bit,511DefIoout6=Bit,612DefIoout7=Bit,713DefIoout8=Bit,814DefIoout11=Bit,1115DefIoout12=Bit,1216DefIoout13=Bit,1317DefIoout14=Bit,14'換料18DefIoout15=Bit,1519DefIntem0,m1,m2,m3,m4,m5,m6,m10,m11,m12,m20,m21,m22,m10020DefIntecmd21DefJntjsafe22DefPlt1,p1,p2,p3,,4,3,2'碼垛變量23jsafe=(+0.00,-30.00,+120.00,+0.00,+90.00,-90.00)'初始化位置24p0=(+0.00,+0.00,-22.00)'加蓋臺(tái)倉庫上方偏移量25Pm=(+0.00,+0.00,-16.00)'按鍵上方偏移量26'-----main27GoSub*init28Waitin14=129Waitin15=130Form2%=0To331cmd%=132GoSub*key_in33GoSub*keying34GoSub*corev35Next36Hlt37End38'-------main39'----子程序40*init41Ifin10+in11+in13=3ThenGoSub*NG42p99=P_Curr43Ovrd1544GoSub*hauy45Ovrd10046Clr147Clr248p24=(+0.00,+0.00,+0.01,+0.00,+0.00,+0.00)49Ifin9=1Orm0%=0Then50GoSub*origin任務(wù)實(shí)施51m0%=152Ifin9=1Then53Ifin10=1Andin11=0Andin13=0Thencmd%=154Ifin10=0Andin11=1Andin13=0Thencmd%=255Ifin10=0Andin11=0Andin13=1Thencmd%=356Ifcmd%<>0ThenGoSub*key_out57Movjsafe58out5=159M_00#=060Hlt61EndIf62EndIf63Return64'-----------origin回到初始化位置65*origin66j1=J_Curr67j1.J2=jsafe.J268j1.J3=jsafe.J369j1.J4=jsafe.J470j1.J5=jsafe.J571Ovrd4072Movj173Movjsafe74Ovrd10075Return76'-------keying碼按鍵77*keying78Form1%=1To779p101=p10080Ifm1%>4Thenp4=Plt1,m1%+4Elsep4=Plt1,m1%81Ifm2%=1Orm2%=3Thenp4.Y=p4.Y+1282Ifm2%=1Orm2%=3Thenp101.Y=p101.Y+17.8883Ifm2%=2Orm2%=3Thenp4.X=p4.X+1284Ifm2%=2Orm2%=3Thenp101.X=p101.X+17.8885Ifm1%=7Then86Mvsp4*Pm87Mvsp488Dly0.289out12=190Dly0.291Mvsp4*Pm92p4=Plt1,893Ifm2%=1Orm2%=3Thenp4.Y=p4.Y+1294Ifm2%=2Orm2%=3Thenp4.X=p4.X+1295EndIf96'--------…^計(jì)算軌跡位置97Movp4*Pm98Mvsp499Dly0.2100out12=1任務(wù)實(shí)施101out13=1102Dly0.2103Mvsp4*Pm104'-------------^執(zhí)行軌跡運(yùn)動(dòng)105Movp5'碼垛盤與手機(jī)底座中間過渡點(diǎn)106m3%=1107'-------計(jì)算軌跡位置108Ifm1%<5Thenp4=p6Elsep4=p7109Selectm1%110Case1'2111p4.Y=p4.Y+24112Break113Case2'5114p4.Y=p4.Y+12115Break116'case3'8117Case4'撥號(hào)鍵118p4.X=p4.X+12119p4.Y=p4.Y-13.91120Break121Case5'3122p4.Y=p4.Y+24123Break124Case6'6125p4.Y=p4.Y+12126Break127'case7'9128EndSelect129'-------------計(jì)算軌跡位置130'-------------執(zhí)行軌跡運(yùn)動(dòng)131Mvsp4*Pm132Mvsp4133Dly0.2134Ifm1%<5Thenout13=0Elseout12=0135Dly0.2136Mvsp4*Pm137'-------------^執(zhí)行軌跡運(yùn)動(dòng)138'-------------計(jì)算軌跡位置139Selectm1%140Case1To3'741141p4.X=p4.X-18.57142Break143Case4'#144p4=p7145p4.X=p4.X-12146p4.Y=p4.Y+12+12147Break148Case5To6'*0149p4.X=p4.X+18.57150p4.Y=p4.Y-12任務(wù)實(shí)施151Break152Case7153p4.X=p4.X+18.57154p4.Y=p4.Y-13.91155Break156EndSelect157'-------------計(jì)算軌跡位置158'-------------執(zhí)行軌跡運(yùn)動(dòng)159Mvsp4*Pm160Mvsp4161Dly0.2162Ifm1%>4Thenout13=0Elseout12=0163Dly0.2164Mvsp4*Pm165Movp5166m3%=0167Nextm1%168'-------------------方向鍵169p4=p101170Mvsp4*Pm171Mvsp4172Dly0.2173out12=1174Mvsp4*Pm175Movp5176Mvsp8*Pm177Mvsp8178Dly0.2179out12=0180Dly0.2181Mvsp8*Pm182m6%=2183GoSub*key_out184Return185'--------------------------------------------------------------入庫186*corev187cmd%=3188out6=1189m6%=1190GoSub*key_in191Movjsafe192out6=0193out12=1194Ifin7=1Andin8=0Thenm20%=1195Ifin7=1Andin8=1Thenm20%=2196Ifm20%=1Thenm21%=m21%+1197Ifm20%=2Thenm22%=m22%+1198Ifm21%=5ThenWaitin14=1199Ifm22%=5ThenWaitin15=1200Movp10任務(wù)實(shí)施201Mvsp11*p0202Ovrd20203Mvsp11204Dly0.1205out12=0206out13=1207Dly0.3208out15=1209Dly1210out15=0211Mvsp11*p0212Ovrd60213m5%=1'標(biāo)記1復(fù)位用標(biāo)m5%214Movp10215Movp12216Mvsp13*p0217m5%=2'標(biāo)記2218Ovrd15219Mvsp13220Dly0.1221out7=1222Dly0.8223out7=0224Mvsp13*p0225Ovrd65226Mvsp12227m5%=3'標(biāo)記3228Ifm20%=1Then229m5%=0230Ifm21%=5Thenm21%=1231Movp14'倉庫1上空232Ovrd20233Ifm21%=1ThenMvsp15'p15倉庫底部234Ifm21%=2ThenMvsp15*p0235Ifm21%=3ThenMvsp15*p0*p0236Ifm21%=4ThenMvsp15*p0*p0*p0237Dly0.2238out13=0239out12=1240Dly0.1241Mvsp14242EndIf'------------------243Ifm20%=2Then244m5%=0245Ifm22%=5Thenm22%=1246Movp16'倉庫2上空247Ovrd20248Ifm22%=1ThenMvsp17'p15倉庫底部249Ifm22%=2ThenMvsp17*p0250Ifm22%=3ThenMvsp17*p0*p0任務(wù)實(shí)施251Ifm22%=4ThenMvsp17*p0*p0*p0252Dly0.2253out13=0254out12=1255Dly0.1256Mvsp16257EndIf258Ovrd100259out12=0260Movjsafe261Ifm2%=3Thenout14=1262Ifm2%=3ThenDly1263out8=1264GoSub*key_out265out14=0266out8=0267Return268'-------------拿抓手269*key_in270Ifcmd%=1Thenp40=p21271Ifcmd%=2Thenp40=p22272Ifcmd%=2Thenp24=(+0.00,-50.00)273Ifcmd%=3Thenp40=p23274Ifm6%<>1ThenMovp20275m6%=0276Movp40*(+0.00,+0.00,-30.00)277Ovrd20278out11=1279M_00#=1280Mvsp40281Dly0.1282out11=0283Dly0.1284Mvsp40*(+0.00,+0.00,-15.00)285Mvsp40*(+0.00,+120.00,-20.00)*p24286Mvsp40*(+0.00,+120.00,-80.00)*p24287Movp20288p24=(+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)289Ovrd75290Return291'-------------放抓手292*key_out293Ifcmd%=1Thenp40=p21294Ifcmd%=2Thenp40=p22295Ifcmd%=2Thenp24=(+0.00,-50.00)296Ifcmd%=3Thenp40=p23297Ifcmd%=3Thenout13=1298Movp20299out13=0300Mvsp40*(+0.00,+120.00,-80.00)*p24任務(wù)實(shí)施301Mvsp40*(+0.00,+120.00,-20.00)*p24302Ovrd15303Mvsp40*(+0.00,+0.00,-10.00)304Mvsp40305Dly0.1306out11=1307Movp40*(+0.00,+0.00,-35.00)308out11=0309M_00#=0310Ifm6%<>2ThenMovp20311m6%=0312p24=(+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)313Ovrd100314Return315'---------------------倉庫1復(fù)位程序316*ck1317IfM_Out(13)=1Then318Ifm21%=1ThenMvsp15319Ifm21%=2ThenMvsp15*p0320Ifm21%=3ThenMvsp15*p0*p0321Ifm21%=4ThenMvsp15*p0*p0*p0322Dly0.2323out13=0324out12=1325Dly0.1326EndIf327Mvsp14328out12=0329Return330'---------------倉庫2復(fù)位程序331*ck2332IfM_Out(13)=1Then333Ifm22%=1ThenMvsp17334Ifm22%=2ThenMvsp17*p0335Ifm22%=3ThenMvsp17*p0*p0336Ifm22%=4ThenMvsp17*p0*p0*p0337Dly0.2338out13=0339out12=1340Dly0.1341EndIf342Mvsp16343out12=0344Return345'--------------抓手復(fù)位程序346*hauy347m10%=Zone2(P_Curr,p21,p23,20)348m11%=Zone2(P_Curr,p21,p23,121)349m12%=Zone2(P_Curr,p21,p23,200)350IfM_00#=0Orcmd%=0Orm10%=0Andm11%=0Andm12%=0ThenReturn任務(wù)實(shí)施351Ifcmd%=1Thenp40=p21352Ifcmd%=2Thenp40=p22353Ifcmd%=2Thenp24=(+0.00,-50.00)354Ifcmd%=3Thenp40=p23355p50=p40*(+0.00,+0.00,-20.00)356p51=p40*(+0.00,+120.00,-20.00)357p52=p40*(+0.00,+120.00,-80.00)358Ifm10%=1Andm11%=1Andm12%=1ThenMvsp40359Ifm10%=0Andm11%=1Andm12%=1Then360Mvsp50361Mvsp40362EndIf363Ifm10%=0Andm11%=0Andm12%=1Then364Mvsp51365Mvsp50366Mvsp40367EndIf368Dly0.1369out11=1370Dly0.1371Mvsp50*(+0.00,+0.00,-20.00)372M_00#=0373Return374'---------------碼按鍵出錯(cuò)復(fù)位375*outkey376Ifcmd%<>1ThenReturn377Ifm1%>4Thenp4=Plt1,m1%+4Elsep4=Plt1,m1%378Ifm3%=1ThenMovp5379Ifm1%=7Then380p4=Plt1,8381Ifm2%=1Orm2%=3Thenp4.Y=p4.Y+12382Ifm2%=2Orm2%=3Thenp4.X=p4.X+12383Mvsp4*Pm384Mvsp4385Dly0.2386out13=0387Dly0.2388Mvsp4*Pm389p4=Plt1,11390Ifm2%=1Orm2%=3Thenp4.Y=p4.Y+12391Ifm2%=2Orm2%=3Thenp4.X=p4.X+12392EndIf393Ifm2%=1Orm2%=3Thenp4.Y=p4.Y+12394Ifm2%=2Orm2%=3Thenp4.X=p4.X+12395Movp4*Pm396Mvsp4397Dly0.2398out12=0399out13=0400Dly0.2任務(wù)實(shí)施401Mvsp4*Pm402Return403'----------9000error報(bào)警404*NG405Error9000406Hltp1=(+308.98,-138.26,+304.44,-179.36,-1.74,-88.48)(7,0)p2=(+398.86,-140.07,+305.49,-179.33,-0.71,-88.49)(7,0)p3=(+308.72,-78.13,+304.18,-179.36,-1.74,-88.48)(7,0)p0=(+0.00,+0.00,-22.00,+0.00,+0.00,+0.00,+0.00,+0.00)(,)Pm=(+0.00,+0.00,-16.00,+0.00,+0.00,+0.00,+0.00,+0.00)(,)p99=(+155.01,+0.01,+474.18,-179.99,+0.01,-89.99,+0.00,+0.00)(7,0)p24=(+0.00,+0.00,+0.01,+0.00,+0.00,+0.00,+0.00,+0.00)(,)p101=(+385.38,-46.49,+304.66,-179.36,-1.74,-88.48,+0.00,+0.00)(7,0)p100=(+385.38,-46.49,+304.66,-179.36,-1.74,-88.48)(7,0)p4=(+385.38,-46.49,+304.66,-179.36,-1.74,-88.48,+0.00,+0.00)(7,0)p5=(+231.29,+18.47,+330.42,-179.36,-1.74,-53.32,+0.00,+0.00)(7,0)p6=(+285.23,+197.27,+317.57,-180.00,-1.21,+1.25,+0.00,+0.00)(7,0)p7=(+243.72,+197.54,+317.26,-180.00,-1.21,+1.25,+0.00,+0.00)(7,0)p8=(+251.80,+183.90,+317.72,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0)p10=(-172.93,-233.62,+346.75,+180.00,+0.00,-90.00,+0.00,+0.00)(7,15728640)p11=(-169.07,-431.24,+274.92,+179.70,+0.97,-88.73,+0.00,+0.00)(7,15728640)p12=(+253.66,+84.81,+346.75,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0)p13=(+268.31,+205.51,+274.74,+179.23,+0.51,+90.69,+0.00,+0.00)(7,15728640)p14=(+34.34,-311.55,+338.46,+180.00,+0.00,-88.88,+0.00,+0.00)(7,0)p15=(+34.34,-311.55,+289.93,+180.00,+0.00,-88.88,+0.00,+0.00)(7,0)p16=(+34.34,-437.50,+338.46,+180.00,+0.00,-88.88,+0.00,+0.00)(7,0)p17=(+34.34,-444.96,+289.93,+180.00,+0.00,-88.88,+0.00,+0.00)(7,0)p40=(-47.43,+281.52,+233.63,-179.43,-0.03,+1.42,+0.00,+0.00)(7,0)p21=(+76.02,+281.52,+233.63,-179.43,-0.03,+1.42)(7,0)p22=(-47.43,+281.52,+233.63,-179.43,-0.03,+1.42)(7,0)p23=(-165.40,+281.52,+233.63,-179.43,-0.03,+1.42)(7,0)p20=(-2.18,+154.98,+421.67,-180.00,+0.02,+0.80)(7,0)p50=(+76.01,+281.32,+253.62,-179.43,-0.03,+1.42,+0.00,+0.00)(7,0)p51=(+78.99,+161.36,+252.43,-179.43,-0.03,+1.42,+0.00,+0.00)(7,0)p52=(+78.97,+160.77,+312.43,-179.43,-0.03,+1.42,+0.00,+0.00)(7,0)p30=(+288.21,+276.25,+343.05,+180.00,+0.00,+39.58)(7,0)p31=(+288.21,+159.87,+343.05,+180.00,+0.00,+39.58)(7,15728640)p32=(+288.88,+159.87,+343.05,+180.00,+0.00,+0.00)(7,0)p33=(+237.58,+162.19,+343.05,-180.00,+0.00,-20.54)(7,0)p34=(+246.54,+158.00,+343.05,-180.00,+0.00,-107.57)(7,0)p35=(+246.54,+271.08,+343.05,-180.00,+0.00,-107.57)(7,0)p36=(+246.54,+268.31,+343.05,-1