机器人简单搬运

1、职业教育机电一体化专业教学资源库课 程 案 例课程名称：工业机器人调试编 制 人：王晓勇邮 箱：电 话：编制时间：20145.13 编制单位：南京工业职业技术学院案例10说明：功能：此案例利用机器人拾取工件，机器人将工件拾取后放置到暂存盒中，机器人快速有效的完成，极大地提高了生产效率，降低成本；运动轨迹编程过程：1、 规划运动路径；2、此案例共定义了3个TCP目标点， pHome、pPick、pPlace，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di01；4、 编写程序；5、 调试程序；程序及注释：案例10 机器人工作站案例10 机器人程序MODULE MainModuleMO

2、DULE MainModuleCONST robtarget pHome:=1261.21,0.00,1395.00,0.5,-5.73546E-09,0.866025,-3.31137E-09,0,0,-1,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09;CONST robtarget pPick:=905.52,-774.64,824.76,0.00261044,-0.355316,-0.934743,0.000263676,-1,-1,0,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09;CONST robtarget pPlace:

3、=884.40,564.28,795.44,0.00193859,0.271839,-0.962339,0.00176762,0,-1,0,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09;VAR num nCount:=1;VARnumnPosition9,3:=200,200,0,200,0,0,200,-200,0,0,-200,0,0,0,0,0,200,0,-200,200,0,-200,0,0,-200,-200,0;PROC main() MoveJ pHome,v1000,z50,tool0WObj:=wobj0; p1: IF nCount =10

4、THEN GOTO p2; ENDIF MoveJ Offs (pPick,0,0,-100),v1000,z50,tool0WObj:=wobj0; Set do1; MoveL pPick,v300,fine,tool0WObj:=wobj0; RSet do1; WaitDI di02,1; Movel Offs (pPick,0,0,-100),v1000,z50,tool0WObj:=wobj0; IF nCount 10 THEN MoveJ RelTool (offs(pPlace,0,0,-100),nPosition nCount ,1,nPosition nCount ,2

5、,nPosition nCount ,3) ,v1000,z50,tool0WObj:=wobj0; Movel RelTool (pPlace,nPosition nCount ,1,nPosition nCount ,2,nPosition nCount ,3) ,v1000,fine,tool0WObj:=wobj0; Set do1; WaitTime 1;RSet do1; Movel RelTool (offs(pPlace,0,0,-100),nPosition nCount ,1,nPosition nCount ,2,nPosition nCount ,3) ,v1000,z50,tool0WObj:=wobj0; nCount :=nCou