ABB机器人程序实例

实用标准文案

MODULE MainModule

CONST

robtarget

pHome:=[[1525.42,272.18,1873.69],[4.42963E-05,0.699969,-0.714173,-2.80277E-05],[0,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];

CONST

robtarget

pPrePickMould:=[[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+09,9E+09,9E+09]];

CONST

robtarget

pPrePickClapboard:=[[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+09,9E+09,9E+09]];

CONST

robtarget

pPickMould:=[[1943.13,173.08,630.89],[4.66987E-05,0.699977,-0.714166,-3.24109E-05],[0,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];

CONST

robtarget

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+09,9E+09,9E+09]];

CONST

-精品--

robtarget

实用标准文案

pPrePlace:=[[785.90,-957.40,1722.38],[0.00231652,0.0492402,-0.998779,-0.00310842],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];

CONST

robtarget

pPrePlace10:=[[-277.40,-1202.57,1621.17],[0.00183571,-0.0139794,-0.999895,-0.00341408],[-2,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];

CONST

robtarget

pPrePlace20:=[[-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]];

CONST

robtarget

pPlaceMould:=[[-92.13,-2580.19,1171.45],[0.000771646,0.713144,0.701007,0.00383692],[-2,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];

CONST

robtarget

pPlaceClapboard:=[[1585.08,1761.04,787.33],[0.00645323,-0.00552996,-0.726358,-0.687263],[0,1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];

CONST

robtarget

pPrePlaceClapboard:=[[1017.30,955.85,1443.17],[1.0621E-05,-0.00849593,-0.999964,4.01139E-05],[0,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E

-精品--

实用标准文案

+09,9E+09]]; CONST

robtarget

pPrePickClapboard10:=[[2257.17,-841.03,1579.56],[0.667517,0.74457,-0.00360206,0.00487631],[-1,-1,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]]; CONST

robtarget

pPrePickMould10:=[[530.24,-1703.27,1762.63],[5.07659E-05,0.96161,0.274421,2.37287E-05],[-1,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+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 iVacuum; PERS

-精品--

tooldata

实用标准文案

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 DO IF siDryCycle=1 or nCurLayer<1 then rPickClapboard; ELSE rPickMould; ENDIF

Waittime 0.2;

ENDWHILE ENDPROC

PROC rPickMould()

DIWait diMouldready,1,3,\Conveyer\pick\

DIWait

diPlaceReady,1,3,\

Conveyer\

remove\ MoveJ pPrePickMould, v1500, z50, tGripper;

IF BitCheck(nCurlayer,1) THEN

-精品--

for

for

实用标准文案

nCurOffs:=nOffs; ELSE

nCurOffs:=-nOffs; ENDIF MoveL

offs(pPickMould,0,nCurOffs,100+nCurLayer*nThickness), v1000, z50, tGripper;

MoveL

offs(pPickMould,0,nCurOffs,(nCurLayer-1)*nThickness), v200, fine, tGripper;

GripClose; Decr nCurLayer; MoveL

offs(pPickMould,0,nCurOffs,100+nCurLayer*nThickness), v200, z50, tGripper;

MoveJ pPrePickMould, v1000, z50, tGripper;

DIWait diPlaceReady,1,3,\

MoveJ pPrePlace10, v1500, z10, tGripper;

MoveL offs(pPlaceMould,0,0,100), v1500, z10, tGripper; MoveL pPlaceMould, v200, fine, tGripper; GripOpen;

-精品--