机器人简单焊接

1、职业教育机电一体化专业教学资源库课程案例工业机器人调试王晓勇2014. 5.7课程名称: 编制人: 邮 箱: 电 话: 编制时间：编制单位：南京工业职业技术学院案例2说明：功能：机器人将竖立在铁板上的直线和半圆形的铁板，焊接到水平的铁板上； 运动轨迹编程过程：1、规划运动路径；2、定义16个TCP目标点，机器人通过完成这 16个点位的运动路径，完成焊接任务，通 过示教器示教并保存在程序数据中；3、设置机器人启动信号 diO14、编写程序；5、调试程序；程序及注释：案例3机器人工作站图案例3机器人程序：MODULE MainModuleCONST robtargetpHome:=1018.61,

2、0.00,1417.50,0.5,0,0.866025,0,0,0,0,0,9E+09,9E+09,9E+09,9E+09,9E+0 9,9E+09;CONST robtarget p10:=1432.72,791.80,925.28,0.235026,0.244611,0.937471,-0.0779516,0,-1,0,0,9E+09,9E+ 09,9E+09,9E+09,9E+09,9E+09;CONST robtarget p20:=1157.58,380.34,925.28,0.235026,0.244611,0.937471,-0.0779515,0,-1,0,0,9E+09,9E

3、+ 09,9E+09,9E+09,9E+09,9E+09;CONST robtarget p30:=1190.81,246.23,928.03,0.211161,-0.558634,0.791589,0.129326,0,0,-1,0,9E+09,9E+0 9,9E+09,9E+09,9E+09,9E+09;CONST robtarget p40:=1283.49,216.68,928.03,0.211161,-0.558634,0.791589,0.129327,0,0,-1,0,9E+09,9E+0 9,9E+09,9E+09,9E+09,9E+09;CONST robtargetp50:

4、=1328.17,215.50,928.03,0.247112,-0.124608,0.960811,0.0158227,0,0,-1,0,9E+09,9E+ 09,9E+09,9E+09,9E+09,9E+09;CONST robtarget p60:=1422.64,2.54,928.03,0.246147,0.042655,0.967918,-0.0269537,0,-1,0,0,9E+09,9E+09, 9E+09,9E+09,9E+09,9E+09;CONST robtarget p70:=1136.13,-434.83,908.75,0.23419,0.0879897,0.9557

5、56,0.154734,-1,0,-1,0,9E+09,9E+ 09,9E+09,9E+09,9E+09,9E+09;CONST robtarget p80:=1416.82,-862.00,910.75,0.23419,0.0879893,0.955756,0.154734,-1,0,-1,0,9E+09,9E+ 09,9E+09,9E+09,9E+09,9E+09;CONST robtarget p90:=1145.93,881.37,729.37,0.575078,-0.173767,0.75393,-0.265857,0,-2,1,0,9E+09,9E+0 9,9E+09,9E+09,

6、9E+09,9E+09;CONST robtarget p100:=852.88,433.76,729.37,0.575078,-0.173767,0.75393,-0.265857,0,-2,1,0,9E+09,9E+0 9,9E+09,9E+09,9E+09,9E+09;CONST robtarget p110:=836.58,298.70,725.78,0.658805,0.0263649,0.751852,0.000210758,0,-2,1,0,9E+09,9 E+09,9E+09,9E+09,9E+09,9E+09;CONST robtarget p120:=1142.93,46.

7、21,725.78,0.658805,0.0263644,0.751851,0.000210653,0,-2,1,0,9E+09,9 E+09,9E+09,9E+09,9E+09,9E+09;CONST robtarget p130:=838.68,-253.03,720.96,0.657877,-0.0412885,0.748056,-0.0768449,-1,-3,2,0,9E+09, 9E+09,9E+09,9E+09,9E+09,9E+09;CONST robtarget p140:=826.54,-350.19,719.69,0.646715,0.129613,0.742251,0.

8、118421,-1,-3,2,0,9E+09,9E+ 09,9E+09,9E+09,9E+09,9E+09;CONST robtarget p150:=1113.34,-784.88,722.45,0.646714,0.129613,0.742252,0.118422,-1,-3,2,0,9E+09,9E +09,9E+09,9E+09,9E+09,9E+09;PROC main()WHILE TRUE DOWaitDI di01,1;WaitTime 0.3;ENDWHILEArcLStart Offs (p10,0,0,160), v1000,z5, tWeldGun WObj:= wob

9、j1 ;ArcL p10 ,v200 ,z5, tWeldGun WObj:= wobj1 ;ArcL p20 ,v200 ,z5, tWeldGun WObj:= wobj1 ;ArcL Offs (p20 ,0,0,160), v200,z5, tWeldGun WObj:= wobj1 ;ArcL Offs (p30,0,0,160), v200,z5, tWeldGun WObj:= wobj1 ;ArcCStart p30 ,v200,z5, tWeldGun WObj:= wobj1 ;ArcC offs (p40,0,5,0) ,p50 , v200,z5, tWeldGun W

10、Obj:= wobj1 ;ArcC offs(p60,0,10,0) ,p70 , v200 ,z5, tWeldGun WObj:= wobj1 ; ArcCEnd p80 ,v200 ,z5, tWeldGun WObj:= wobj1;ArcLEnD Offs (p80,0,0,160), v200,z5, tWeldGun WObj:= wobj1 ;MoveJ pHome ,v1000,z5, tWeldGun WObj:= wobj1 ;ArcLStart Offs (p90,0,0,160), v1000,z5, tWeldGun WObj:= wobj1 ;ArcL p90 ,

11、v200 ,z5, tWeldGun WObj:= wobj1 ;ArcL p100 ,v200,z5, tWeldGun WObj:= wobj1 ;ArcL Offs (p100 ,0,0,160), v200,z5, tWeldGun WObj:= wobj1 ;ArcL Offs (p110,0,0,160), v200,z5, tWeldGun WObj:= wobj1 ;ArcCStart offs(p110,0,-10,0) , v200,z5, tWeldGun WObj:= wobj1 ;ArcC offs(p120,0,-15,0) , offs (p130,0,-10,0) ,v200,z5, tWeldGun WObj:= wobj1 ; ArcCEnd Offs (p130 ,0,0,160),v200,z5, tWeldGun WObj:= wobj1 ;ArcL Offs (p140 ,0,0,160), v200,z5, tWeldGun WObj:= wobj1 ;ArcL p140 ,v200,z5, tWeldG