ABB机器人编程程序解析

1、ABB机器人编程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、思路清晰，结构编排明确，方便使用者阅读。%VERSION:1LANGUAGE:ENGLISH%MODULE MainModulePERS 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 pPointA:寸1,1,1,1,1,1,1

2、,-1,0,0,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09;CONST robtarget pPointB:=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:寸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:=20,0,0,0,1,0,0,0

3、,0,0,0;以上是固定的数据存放位置。PROC main() 主程序，是一个程序的开始rInitial;Accset 60,60;此部分其实可放入到rInitial中去，这样管理起来更方便velset 100,100;此部分其实可放入到rInitial中去，这样管理起来更方便WHILE TRUE DOrBox;在此指令后插入秒的等待指令，防止CPU过负荷的情况出现。ENDWHILEENDPROCPROC rInitial()SetDo DOGrip,0;WaitDI DIGripReleased,1;MoveJ pHome, v300, z50, tGripper;ENDPROCPROC r

4、Box()MoveJ offs(pPointA,0,200,500), v1500, z100,tGripper;MoveJ offs(pPointA,0,200,0), v1500, z50,tGripper;A:TPErase;IF DIAllowPick=1 THENWaitTime 0;ELSEIF DIAllowPick=0 THENTPWrite "Signal of AllowPick no ready,Please Check!"GOTO A;ENDIFMoveL pPointA,v800, fine, tGripper;SetDo DOGrip,1;Wai

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

6、fs(pPointB,0,200,0), v800, z50, tGripperWObj:=WobBox;MoveJ offs(pPointB,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按照比赛题目中的要求的进行，就是按步就班式的2、思路清晰，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，就是缺少初始化的部分。MODULEMainModuleCONSTrobtargetPHOME:=1149.87

7、,13.55,451.35,0.729477,0.0748599,0.679603,0.0199765,0,0,0,1, 9E+09,9E+09,9E+09,9E+09,9E+09,9E+09;CONSTrobtargetPA:=250.14,-652.34,650.90,0.429093,0.468557,-0.496153,0.591749,-1,0,-2,1,9E+ 09,9E+09,9E+09,9E+09,9E+09,9E+09;CONSTrobtargetP20:=250.14,-652.35,828.56,0.429091,0.468538,-0.496163,0.591756,-

8、1,0,-3,1,9E +09,9E+09,9E+09,9E+09,9E+09,9E+09;CONSTrobtargetP30:=695.24,18.14,826.55,0.0377066,-0.677588,0.0913591,-0.728771,0,0,-2,1,9E +09,9E+09,9E+09,9E+09,9E+09,9E+09;CONSTrobtargetP40:=1227.51,18.14,826.55,0.0377092,-0.677583,0.0913642,-0.728774,0,0,-3,1,9 E+09,9E+09,9E+09,9E+09,9E+09,9E+09;CON

9、STrobtargetPB:=1227.52,18.15,424.02,0.0377092,-0.677591,0.0913577,-0.728767,0,0,-2,1,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09;PROCmain()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;OpenGripper;WaitTime5;WHILEtrueDOIFPLC=1THENTPErase;TPWrite"Warning! Begin to move the new staff."W

10、aitTime1;ClkResetclock1;ClkStartclock1;MovFromAtoB;ClkStopclock1;reg1:=ClkRead(clock1);TPErase;TPWrite"Goods handling in place, it take (time in second): "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;ENDIFENDWHILEENDPROCPROCOpenGrippe

11、r()将对夹具的控制做在一个例行程序里，方便管理SetG0;ResetG1;ENDPROCPROCCloseGripper() 将对夹具的控制做在一个例行程序里，方便管理SetG1;ResetG0;ENDPROCPROCMovFromAtoB()MoveJP30,v1000,z50,tool0;MoveJP20,v1000,z50,tool0;MoveLPA,v50,fine,tool0;WaitTime1;CloseGripper;WaitTime1;MoveJP20,v50,z50,tool0;MoveJP30,v1000,z50,tool0;MoveJP40,v1000,z50,tool

12、0;MoveLPB,v50,fine,tool0;WaitTimel;OpenGripper;WaitTimel;MoveLP40,v50,z50,tool0;MoveJP30,v1000,z50,tool0;MoveJPHOME,v1000,z50,tool0;ENDPROCENDMODULEABB机器人编程03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、思路清晰，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 m

13、ain()InitAll;此初始化程序应与循环执行的程序隔离开，使用 WHILE指令Circle;WaitTime 0.5;ENDPROCPROC InitAll()Reset Do_fixOn;WaitDIOnConfJOn;ConfLOn;VelSet 80, 1000;AccSet 70,70;MoveJ PHome, v150, fine, Tool0WObj:=Wobj2;RETURN;ENDPROCPROC Circle()MoveJ Home, v60, z0, Tool0WObj:=Wobj2;waitDI;work;reset waitDIMoveJ Home, v150,

14、fine, Tool0WObj:=Wobj2;ENDPROCPROC fixopen()Set Do_fixopen;ENDPROCPROC fixclose()Reset Do_fixclose;ENDPROCPROC Work()MOVEJ A0 v150, z10, Tool0WObj:=Wobj2;fixopen;waittime 2;MOVEL A1 v30, fine,Tool0WObj:=Wobj2;fixclose;waittime 2;MOVEJ B0 v150, z10, Tool0WObj:=Wobj2;MOVEj B1 v30, fine,Tool0WObj:=Wobj

15、2;fixopen;waittime 2;MoveJ PHome, v150, fine, Tool0WObj:=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、思路清晰，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 Main()Initial;rMoveHome;While True DoVelset 100,3000;AccSet 70, 70;rpickwork

16、piece;rplaceworkpiece;endwhileproc rpickworkpiece;if workpiece=falseMoveJ pickup, v2000, z5, too10;A:TPErase;IF DI10_pickup=1 THEN (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

17、DO10_pickup1,1;wait time 1;workpiece=tureendif endprocproc rplaceworkpiece;if workpiece=tureMoveJ placemiddle, v2000, z5, too10;MoveJ placeworkpiece, v2000, z5, too10;MoveJ Offs(placeworkpiece,0,0,300), v500, z200, too10;SetDo DO10_pickup1,0;A:TPErase;IF DI10_pickon=1 THEN (pickon 为 PLC 检测已放好信号) Wai

18、tTime 0;ELSEIF DI10_pickup=0 THENTPWrite "PLC-pickON signal no ready."GOTO A;workpiece=falseENDIFendprocPROC rInitial()TpReadFk nInput,"Is the pack_machine ready","","","","No","Yes"(机器是否准备好If nInput=4 Then bReady:=False; stop;Els

19、eIF nInput=5 then bReady:=True;ENDIFbFirstPickBoard:=True;TpReadFk nInput,"Do you want to place workpiece","","","","No","Yes"机器人抓头是否工件If nInput=4 Then workpiece:=False;ElseIF nInput=5 then workpiece:=True;ENDPROCPROC rMoveHome()(定义原点此例行程序可

20、以方便地回到等待位置MoveJ pHome, v500, z50, tGripper;ENDPROCABB机器人编程05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、思路清晰，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高。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!ta

21、rgetCONST jointtarget 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 jointtarget jhome := 0, 0, 0, 0, 90, 0, 9E9, 9E9, 9E9, 9E9, 9E9, 9E9;PERS robtarget roFetch:=2000,0,233.483269239532,0,0,1,0,0,0,0,0,9

22、E9,9E9,9E9,9E9,9E9,9E9;PERS robtargetroDeFetch:=2000,1000,233.483269239532,0,0,1,0,0,0,0,0,9E9,9E9,9E9,9E9,9E9,9E9;VAR wzstationary home;VAR shapedata joint_space;VAR num nu_inhome;VAR bool 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

23、_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 MainModulePROC main()CheckHome;CheckGriper;Production;ENDPROCPROC CheckHome()IF DOutput(do_inhome) = 1 THEN nu_inhome := 1;ELSEnu_inhome :=0;ENDIFTEST nu_in

24、homeCASE 0 :GoHome;CASE 1 :RETURN;DEFAULT :TPWrite "error"Stop;ENDTESTENDPROCPROC CheckGriper()IF di_griperclosed = 1 THENControlGriper;ELSERETURN;ENDIFENDPROCPROC Production。WHILE TRUE DOWaitUntil di_plc=1;MoveL Offs(roFetch,0,0,500),v1000,z100,Tooldata_1WObj:=Workobject_1;利用 OFFS 此功能，减少示

25、 教MoveL roFetch,v1000,fine,Tooldata_1WObj:=Workobject_1;CloseGriper;MoveL Offs(roFetch,0,0,500),v1000,z100,Tooldata_1WObj:=Workobject_1;MoveL Offs(roDeFetch,0,0,500),v1000,z100,Tooldata_1WObj:=Workobject_1;MoveL roDeFetch,v1000,fine,Tooldata_1WObj:=Workobject_1;OpenGriper;MoveL Offs(roDeFetch,0,0,50

26、0),v1000,z100,Tooldata_1WObj:=Workobject_1;ENDWHILEENDPROCPROC CloseGriper()flag1:=FALSE;Reset do_opengriper;Set do_closegriper;WaitDI di_griperclosed, 1MaxTime:=3TimeFlag:=flag1;WHILE flag1=TRUE DOTPWrite"CANN'T CLOSE GRIPER"StopNoRegain;ENDWHILEENDPROCPROC OpenGriper()flag1:=FALSE;Se

27、t do_opengriper;Reset do_closegriper;WaitDI di_griperopend, 1MaxTime:=3TimeFlag:=flag1;WHILE flag1=TRUE DOTPWrite"CANN'T OPEN GRIPER"StopNoRegain;ENDWHILEENDPROCPROC DEF_Zone()对机器人是否在等待位进行检测WZHomeJointDef Inside, joint_space, home_pos, delta_pos;WZDOSetStat, homeInside, joint_space, do_inhome, 1;!RETURN;ENDPROCPROC GoHome()VAR btnres answer;VAR stri