A机器人编程程序解析

1、1程序解析：1、此程序是典型的ABB机器人官方编程思路与方法,分为主程序,初始化例行程序和轨迹程序.2、思路清楚,结构编排明确,方便使用者阅读.%VERSION"LANGUAGE:ENGLISH%MODULE Mai nM odulePERS tooldata tGripper:=TRUE,0,0,100,1,0,0,0,25,0,0,10,1,0,0,0,0,0,0;？PERS wobjdata WobBox:=FALSE,TRUE,"",1,1,1,0,0,0,0,0,0,0,1,0,0,0;CONST robtarget pPoi ntA:=1,1,1,1,

2、1,1,1,-1,0,0,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09;CONST robtarget pPoi ntB:=1,1,1,1,1,1,1,-1,0,0,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09;CONST robtarget PHome:=1,1,1,1,1,1,1,-1,0,0,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09;？PERS loaddata load_Empty:=1,0,0,0,1,0,0,0,0,0,0;PERS loaddata load_Box:=20,0,0,0,

3、1,0,0,0,0,0,0;以上是固定的数据存放位置.？PROC ma in ()主程序,是一个程序的开始rIn itial;Accset 60,60;此局部其实可放入到rlnitial中去,这样治理起来更方便velset 100,100;此局部其实可放入到rlnitial中去,这样治理起来更方便WHILE TRUE DO ？rBox;在此指令后插入秒的等待指令,预防CPU过负荷的情况岀现.ENDWHILEENDPROCPROC rIn itial()?SetDo DOGrip,0;WaitDI DIGripReleased,1;?MoveJ pHome, v300, z50, tGrippe

4、r;?ENDPROCPROC rBox()MoveJ offs(pPo in tA,0,200,500), v1500, z100,tGripper;MoveJ offs(pPo in tA,0,200,0), v1500, z50,tGripper;A:TPErase;IF DIAllowPick=1THENWaitTime 0;ELSEIF DIAllowPick=0 THENTPWrite "Signal of AllowPick no ready,Please Check!"GOTO A;ENDIF?MoveL pPointA,v800, fine, tGrippe

5、r; ?SetDo DOGrip,1;WaitDI DIGripPicked,1;Gripload load_Box;这一句很重要的,设定机器人的实际负荷情况,有利于机器人伺服限制的优化MoveJ offs(pPointA,0,0,500), v1000, z100, tGripper;？MoveJ offs(pPointB,0,0,200), v1000, z50, tGripperWObj:=WobBox; ？MoveL pPoi ntB, v1000, fine, tGripperWObj:=WobBox;SetDo DOGrip,0;WaitDI DIGripReleased,1; ？

6、Gripload load_Empty;MoveL offs(pPoi ntB,0,200,0), v800, z50, tGripperWObj:=WobBox;MoveJ offs(pPo in tB,0,200,500), v1500, z100, tGripperWObj:=WobBox;ENDPROCENDMODULEABB机器人编程02程序解析：1、此程序编写的思路是完全根据比赛题目中的要求的进行,就是按步就班式的2、思路清楚,结构编排明确,方便使用者阅读.3、有相应的写屏信息提示,方便操作员对机器人运行状态的了解.4、有一点小问题,就是缺少初始化的局部.MODULEMai nM

7、oduleC0NSTrobtargetPH0ME:=,0,0,0,1,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09;CONSTrobtargetPA:=,-1,0,-2,1,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09;C0NSTrobtargetP20:=,-1,0,-3,1,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09;CONSTrobtargetP30:=,0,0,-2,1,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09;CONSTrobtargetP40:=,0,0,-3,1,9E+0

8、9,9E+09,9E+09,9E+09,9E+09,9E+09;CONSTrobtargetPB:=,0,0,-2,1,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09;PROCmai n()在主程序里,过于臃肿,将具体功能尽量细分到例行程序TPErase;MoveJPHOME,v1000,z50,tool0;Open Gripper;WaitTime5;WHILEtrueDOIFPLC=1THENTPErase;TPWrite"Warni ng! Begi n to move the new staff."WaitTime1;ClkResetcloc

9、k1;ClkStartclockl;MovFromAtoB;ClkStopcIockl;reg1:=CIkRead(cIock1);TPErase;TPWrite'Goods han dli ng in place, it take (time in seco nd): "Num:=reg1;运行时间的显示WaitTime5;ELSETPErase;TPWrite"Waiting for new goods."运行状态的提醒WaitDIPLC,1;ENDIFENDWHILEENDPROCPROCOpe nGripper()将对夹具的限制做在一个例行程序里,

10、方便治理SetGO;ResetG1;ENDPROCPROCCloseGripper()将对夹具的限制做在一个例行程序里,方便治理SetG1;ResetG0;ENDPROCPROCMovFromAtoB()MoveJP30,v1000,z50,tool0;MoveJP20,v1000,z50,tool0;MoveLPA,v50,fi ne,tool0;WaitTime1;CloseGripper;WaitTime1;MoveJP20,v50,z50,tool0;MoveJP30,v1000,z50,tool0;MoveJP40,v1000,z50,tool0;MoveLPB,v50,fi ne,

11、tool0;WaitTime1;Open Gripper;WaitTime1;MoveLP40,v50,z50,tool0;MoveJP30,v1000,z50,tool0;MoveJPH0ME,v1000,z50,tool0;ENDPROCENDMODULE程序解析：1、此程序是典型的ABB机器人官方编程思路与方法,分为主程序,初始化例行程序和轨迹程序2、思路清楚,结构编排明确,方便使用者阅读.3、但有点要注意的初始化例行程序只在开始时,执行一次,正常运行时,不再执行.但此程序是每 个循环都会进行一次初始化,是有点问题的.PROC mai n()InitAll;此初始化程序应与循环执行的程序

12、隔离开,使用WHILE指令Circle;WaitTime ;ENDPROC？PROC Ini tAll()Reset Do_fix On;WaitDI'O nCo nfJOn;ConfL'On;VelSet 80, 1000;AccSet 70,70;MoveJ PHome, v150, fine, Tool0WObj:=Wobj2;RETURN;ENDPROC？PROC Circle()MoveJ Home, v60, z0, Tool0WObj:=Wobj2;waitDI;work;reset waitDI？MoveJ Home, v150, fine, Tool0WObj

13、:=Wobj2;ENDPROC？PROC fixope n()Set Do_fixope n;ENDPROC？PROC fixclose()Reset Do_fixclose;ENDPROC？PROC Work()MOVEJ A0v150, z10, Tool0WObj:=Wobj2;fixope n;waittime 2;MOVEL A1v30, fin e,Tool0WObj:=Wobj2;fixclose;waittime 2;MOVEJ B0v150, z10, ToolOWObj:=Wobj2;MOVEj B1v30, fin e,ToolOWObj:=Wobj2;fixope n;

14、waittime 2;MoveJ PHome, v150, fine, ToolOWObj:=Wobj2;ENDPROCABB机器人编程04程序解析：1、此程序是典型的ABB机器人官方编程思路与方法.2、思路清楚,结构编排明确,方便使用者阅读.3、 此程序有一个亮点,就是有一个回等待点的例行程序rMoveHome,这个好处在于可以在手动状态 下,就能方便的回到机器人的等待位置.4、有足够的写屏信息,很好地提示运行状态.PROC Mai n()？rln itial;rMoveHome;While True DoVelset 100,3000;AccSet 70, 70;rpickworkpiec

15、e;rplaceworkpiece;?en dwhile？proc rpickworkpiece;if workpiece=falseMoveJ pickup, v2000, z5, too10;A:TPErase;？IF DI10_pickup=1THEN(pickup 为 PLC 发来拾取信号)WaitTime 0; ？ELSEIF DI10_pickup=0 THENTPWrite "PLC-pickup signal no ready."GOTO A;ENDIFMoveJ Offs(pickup,0,0,300), v500, z200, too10;SetDo D

16、O10_pickup1,1;wait time1;workpiece=tureen difen dproc?proc rplaceworkpiece;if workpiece=tureMoveJ placemiddle, v2000, z5, toolO;?MoveJ placeworkpiece, v2000, z5, too10;MoveJ 0ffsplaceworkpiece,0,0,300, v500, z200, too10;SetDo DO10_pickup1,0;A:TPErase;?IF DI10_pickonhTHENpickon 为 PLC 检测已放好信号WaitTime

17、0; ?ELSEIF DI10_pickup=0 THENTPWrite "PLC-pickON signal no ready."GOTO A;workpiece=falseENDIF?en dproc?PROC rln itialTpReadFk nlnput,"Is the pack_machine ready","","","","No","Yes"机器是否准备好If nln put=4 ThenbReady:=False;stop;ElseIF

18、nln put=5 the nbReady:=True;ENDIF?bFirstPickBoard:=True;TpReadFk nlnput,"Do you want to place workpiece","","","","No","Yes"机器人抓头是否工件If nln put=4 Thenworkpiece:=False;ElseIF nln put=5 the nworkpiece:=True;ENDPROC ？?PROC rMoveHome定义原点此例行程序可以

19、方便地回到等待位置MoveJ pHome, v500, z50, tGripper;ENDPROC程序解析：1、此程序是典型的ABB机器人官方编程思路与方法.2、思路清楚,结构编排明确,方便使用者阅读.3、此程序共分了 3个程序模块,清楚地将不同用途的语句分开,方便阅读,这种编程在进行一些复 杂系统的编程是非常有用的.4、 里面编程中运用了很多编程技巧,节省了机器人示教的时间,如使用OFFS功能.5、在写屏信息提示方面也非常丰富.6、此程序非常适合大家的参考与提升.7、有一个小问题,缺少搬运重要的负荷重量设定数据.MODULE Data此模块专门用于存放程序数据的!target？CONST j

20、ointtarget home_pos := 0, 0, 0, 0, 90, 0, 9E9, 9E9, 9E9, 9E9, 9E9, 9E9;CONST jointtarget delta_pos := 2, 2, 2, 2, 2, 2, 9E9, 9E9, 9E9, 9E9, 9E9, 9E9;CONST joi nttarget jhome := 0, 0, 0, 0, 90, 0, 9E9, 9E9, 9E9, 9E9, 9E9, 9E9;VAR wzstati onary home;VAR shapedata join t_space;VAR num nu_in home;VAR bo

21、ol flag1:=FALSE;ENDMODULE%VERSION: 1LANGUAGE: ENGLISH%MODULE CalibData此模块用于存放需要设定的程序数据TASK PERS tooldata Tooldata_1:=TRUE,0,0,1000,1,0,0,0,1,0,0,1,1,0,0,0,0,0,0;TASK PERS wobjdata Workobject_1:=FALSE,TRUE,"",0,0,0,1,0,0,0,0,0,0,1,0,0,0;？ENDMODULEMODULE Mai nM odulePROC mai n()CheckHome;Che

22、ckGriper;Producti on;ENDPROCPROC CheckHome()IF DOutput(do_i nhome) = 1 THENnu_in home := 1;ELSE?nu_in home :=0;ENDIFTEST nu_in homeCASE 0 :GoHome;CASE 1 :RETURN;DEFAULT:TPWrite "error"Stop;ENDTESTENDPROCPROC CheckGriper()IF di_griperclosed = 1 THENCon trolGriper;ELSERETURN;ENDIFENDPROCPROC

23、 Productio n()WHILE TRUE DOWait Un til di_plc=1;MoveL Offs(roFetch,0,0,500),v1000,z100,Tooldata_1WObj:=Workobject_1;利用 OFFS 此功能,减少示教MoveL roFetch,v1000,fi ne,Tooldata_1WObj:=Workobject_1;CloseGriper;MoveL Offs(roFetch,0,0,500),v1000,z100,Tooldata_1WObj:=Workobject_1;MoveL Offs(roDeFetch,O,O,5OO),v1O

24、OO,z1OO,Tooldata_1WObj:=Workobject_1;MoveL roDeFetch,v1000,fi ne,Tooldata_1WObj:=Workobject_1;Open Griper;MoveL Offs(roDeFetch,O,O,5OO),v1OOO,z1OO,Tooldata_1WObj:=Workobject_1;ENDWHILEENDPROCPROC CloseGriper()flag1:=FALSE;Reset do_ope ngriper;Set do_closegriper;WaitDI di_griperclosed, 1MaxTime:=3Tim

25、eFlag:=flag1;WHILE flag1=TRUE DOTPWrite"CANN'T CLOSE GRIPER"StopNoRega in;ENDWHILEENDPROCPROC Ope nGriper()flag1:=FALSE;Set do_ope ngriper;Reset do_closegriper;WaitDI di_griperope nd, 1MaxTime:=3TimeFlag:=flag1;WHILE flag仁TRUE DOTPWrite"CANN'T OPEN GRIPER"StopNoRega in;ENDWHILEENDPROCPROC DEF_Z on e()对机器人是否在等待位进行检测WZHomeJo in tDef ln side, join t_space, home_pos, delta_pos;WZDOSetStat, homeI nside, joi nt_space, do_i nhome, 1;!RETURN;ENDPROCPROC GoHome()?VAR btn res an swer;VAR stri ng my_message2:= "",""CONST string my_butto