ABB机器人程序实例

1、MODULE MainModuleCONST robtargetpHome:=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 robtargetpPrePickMould:=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

2、robtargetpPrePickClapboard:=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 robtargetpPickMould:=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 robtargetpPickCla

3、pboard:=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;robtargetCONSTpPrePlace:=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 robtargetpPrePlace10:=-277.40,-1202.

4、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 robtargetpPrePlace20:=-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 robtargetpPlaceMould:=-92.13,-2580.19,1171.45,0.0007

5、71646,0.713144,0 .701007,0.00383692,-2,0,-1,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09;CONST robtargetpPlaceClapboard:=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 robtargetpPrePlaceClapboard:=1017.30,955.85,1443.17,1.0621E-05,-0.008

6、49593,-0.999964,4.01139E-05,0,-1,0,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09;CONST robtargetpPrePickClapboard10:=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 robtargetpPrePickMould10:=530.24,-1703.27,1762.63,5.07659E-05,0.96161,0.274

7、421,2.37287E-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 tooldat

8、atGripper:=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 DOIF siDryCycle=1 or nCurLayer1 then rPickClapboard;ELSErPickMould;ENDIFWaittime 0.2;ENDWHILEENDPROCPROC rPickMould()DIWait diMouldready,1,3,entrance Conveyer,ready forpick;DIWait diPlaceRea

9、dy,1,3,exit Conveyer,ready forremove;MoveJ pPrePickMould, v1500, z50, tGripper;IF BitCheck(nCurlayer,1) THENnCurOffs:=nOffs;ELSEnCurOffs:=-nOffs;ENDIFMoveLoffs(pPickMould,0,nCurOffs,100+nCurLayer*nThickness), v1000, z50,tGripper;MoveLoffs(pPickMould,0,nCurOffs,(nCurLayer-1)*nThickness), v200, fine,t

10、Gripper;GripClose;Decr nCurLayer;MoveLoffs(pPickMould,0,nCurOffs,100+nCurLayer*nThickness), v200, z50,tGripper;MoveJ pPrePickMould, v1000, z50, tGripper;DIWait diPlaceReady,1,3,exit Conveyer,ready forremove;MoveJ pPrePlace10, v1500, z10, tGripper;MoveL offs(pPlaceMould,0,0,100), v1500, z10, tGripper

11、;MoveL pPlaceMould, v200, fine, tGripper; GripOpen;MoveL offs(pPlaceMould,0,0,100), v200, z10, tGripper;MoveL pPrePlace10, v1500, z10, tGripper;MoveJ pPrePickMould, v1500, z10, tGripper;PulseDOPLength:=2, doMouldPlaceOK;ENDPROCPROC rPickClapboard()DIWait diMouldready,1,3,entrance Conveyer,ready forp

12、ick;MoveL offs(pPickClapboard,0,0,100), v1000, z50, tGripper;MoveL pPickClapboard, v200, fine, tGripper;GripClose;MoveL offs(pPickClapboard,0,0,100) ,v200, z50, tGripper;MoveL offs(pPickClapboard,0,0,500) ,v1000, z50, tGripper;MoveL pPrePlaceClapboard, v1000, z10, tGripper;DIWait diClapboardReady, 1

13、, 3, exit Conveyer, ready forremove;MoveL offs(pPlaceClapboard,-700,-200,250), v1000, z10,tGripper;MoveL offs(pPlaceClapboard,00,-10,100), v1000, z10,tGripper;MoveL pPlaceClapboard, v100, fine, tGripper;GripOpen;MoveL offs(pPlaceClapboard,0,-50,100), v1000, z10,tGripper;MoveL offs(pPlaceClapboard,-7

14、00,-200,250), v1000, z10,tGripper;MoveL pPrePlaceClapboard, v1000, z10, tGripper;PulseDOPLength:=1.0, doClapboardPickOK;MoveJ pHome, v1500, fine, tGripper;PulseDOPLength:=1.0, doUnStackOk;WaitTime 2;DIWait diMouldready,0,3,exit Conveyer,ready forremove;nCurLayer:=nLayer;ENDPROCPROC rInitAll()IF diVa

15、cuum1=0 THENWaitTime 1;ELSEErrWrite The Rob1 gripper error! ,The gripper is notopened!RL2:=Check the gripper signal postion .RL3:= open thegripper manually and take away the part from gripper.;Stop;Exit;ENDIF rMoveHome;nCurLayer:=nLayer;IDelete iVacuum;CONNECT iVacuum WITH tLostPart;ISignalDI diVacu

16、um1, 1, iVacuum;ISleep iVacuum;ENDPROCROC GripClose()SetDO doVacuum,1;SetDO doBlow,0;WaitUntil diVacuum1=1MaxTime:=10TimeFlag:=bTimeOut;IF bTimeOut THENErrWrite Rob Gripper Signal error ! ,Fatal error inGripperRL2:=Check the gripper signal postion .RL3:= change anew sensor .;Stop;ENDIFWaittime 0.5;I

17、Watch iVacuum;ENDPROCPROC GripOpen()ISleep iVacuum;SetDO doVacuum,0;PulseDO PLength:=2.0, doBlow;WaitUntil diVacuum1=0 MaxTime:=5TimeFlag:=bTimeOut;IF bTimeOut THENErrWrite Rob Gripper Signal error ! ,Fatal error inGripperRL2:=Check the gripper signal postion .RL3:= change anew sensor .;Stop;ENDIFWa

18、ittime 0.5;ENDPROCPROC rMoveHome()VAR string HomeOffset;CONST num MinX:=-500;CONST num MaxX:=500;CONST num MinY:=-500;CONST num MaxY:=500;CONST num MinZ:=500;CONST num MaxZ:=1200;VAR robtarget ActualPos;VelSet 100,500;AccSet 70, 70;IF bCurrentPos(pHome,tGripper,50)=TRUE THENMoveJ pHome,v500,fine,tGr

19、ipperWObj:=wobj0;ENDIFIF bCurrentPos(pPrePickMould,tGripper,50wobj:=Wobj0)=TRUE THENMoveJ pHome,v500,fine,tGripperWObj:=wobj0;ENDIFIFbCurrentPos(pPrePickClapboard,tGripper,100wobj:=Wobj0)= TRUETHENMoveJ pHome,v500,fine,tGripperWObj:=wobj0;ENDIFIF bCurrentPos(pPreplace,tGripper,100wobj:=Wobj0)= TRUET

20、HENMoveJ pHome,v500,fine,tGripperWObj:=wobj0;ENDIFIF bCurrentPos(pHome,tGripper,100)=FALSE THEN! If no known position is found, check if the robot is in aspecified! window and move him to the first position in the programActualPos:=CRobT(Tool:=tGripperWObj:=wobj0);IF ActualPos.trans.xMaxX ORActualPos.trans.yMaxY ORActualPos.trans.zMaxZ THENHomeOffset:=;IF ActualPos.trans.xMaxX THENHomeOffset:=HomeOffset+X :+NumToStr(MaxX-ActualPos.trans .x,0)+ ;ELSEHomeOffset:=HomeOffset+X : OK ;ENDIFIF ActualPos.trans.yMaxY THENHomeOffset:=HomeOffset+Y :+NumToStr(MaxY-Actua