机器人倒置焊接

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201467课程名称:人箱:话:编制时间：编制单位：南京工业职业技术学院案例12说明:功能：为了节省空间以及更加方便快捷的完成焊接任务，有时需要将机器人进行 倒置放置，此案例为机器人倒置完成焊接任务；运动轨迹编程过程：1、规划运动路径；（由于安装空间比较小，机器人本体比较大，因此机器人的 一些动作必须在工作空间外部完成，在进入工作空间）2 定义12个TCP目标点，通过示教器示教并保存在程序数据中；、设置机器人启动信号diOl ；3编写程序；、调试程序；程序及注释:案例12机器人工作站示意图案例11机器人程序：MODULE MainM

2、oduleCONSTrobtargetp10:=-195.86,420.90,1811.92,0.678114,-0.100891,0.0483881,0.726389,1 ,-1 ,-1,2,0,9E+09,9 E+09,9E+09,9E+09,9E+09;CONSTrobtargetp20:=-195.86,420.90,1811.92,0.678114,-0.100891,0.0483881,0.726389,1,-1 ,-1,2,1700,9E+ 09,9E+09,9E+09,9E+09,9E+09;CONSTrobtargetp30:=-162.37,394.24,1900.91 ,

3、0.949487,0.124023,0.284312,0.0475344,-1,1 ,-1,4,1700,9E+ 09,9E+09,9E+09,9E+09,9E+09;CONST robtargetp40:=-166.28,-512.29,1900.91,0.913303,00247837,0.309193,0.263938,0,-1 ,-1,4,1700,9E +09,9E+09,9E+09,9E+09,9E+09;CONSTrobtargetp50:=171.26,-300.41,1837.89,0.980455,-0.141176,0.127841,0.0493392,-1 ,-3,2,

4、0,700.082,9 E+09,9E+09,9E+09,9E+09,9E+09;CONSTrobtargetp60:=171.26,43.04,1837.89,0.980455,0.141177,0.127842,0.0493384,-1,-3,2,0,700.082,9E +09,9E+09,9E+09,9E+09,9E+09;CONSTrobtargetp70:=卜51.64,193.66,1837.89,0.980455,0.141176,0.127842,0.0493393,1,-2,0,0,700.082,9E +09,9E+09,9E+09,9E+09,9E+09;CONST r

5、obtargetp80:=卜203.81,89.58,1832.65,0.79186,00288875,0.188257,0.580244,-2,-3,3,0,356.312,9 E+09,9E+09,9E+09,9E+09,9E+09;CONST robtargetp90:=卜865.73, 465.36,1832.65,0.79186,00288868,0.188259,0.580243,-2,-3,2,0,356.312,9 E+09,9E+09,9E+09,9E+09,9E+09;CONST robtargetpHome:=509.63,0.00,1375.56,0.552033,-1

6、.24249E-08,0.833822,-8.22593E-09,0,0,-1,0,356 .312,9E+09,9E+09,9E+09,9E+09,9E+09;CONST robtargetpzhuanhuan:=-72.64,1537.58,1147.78,0.361457,0630222,0.545966,0.41724,1,0,-1,0,356. 312,9E+09,9E+09,9E+09,9E+09,9E+09;CONSTrobtargetpzhuanhuanl 0:=-72.64,1537.58,1147.78,0.361457,-0.630222,0.545966,0.41724

7、,1,0,-1,0,35 6.312,9E+09,9E+09,9E+09,9E+09,9E+09;PROC main()WHILE TRUE DOWaitDldi01,1;WaitTime 0.3;ENDWHILEMoveJ pzhuanhuan5v1000 ,z50,tool0 WObj:= wobjO ;MoveJ Offs (p10,0,0,-200), v1000,z20,tool0 WObj:= wobjO ;MoveLMoveLp10,v200,fine ,tool0 WObj:= wobjO ; p20 ,v5,fine ,tool0MoveL WObj:= wobjO ;Mov

8、eL offs (p20,150,0,0), v200 ,fine ,tool0 WObj:= wobjO ;Offs (p20,150,0,-130),v200,fine,tool0WObj:= wobjO ; MoveJ pzhuanhuan ,v1000,fine,toolOWObj:= wobjO ;MoveJ Offs (p30,0,0,-200), v1000,z40,tool0 WObj:= wobjO ; MoveL p30 ,v200,fine ,tool0 WObj:= wobjO ; MoveL p40,v200,fine ,tool0 WObj:= wobjO ; Mo

9、veL Offs (p40,0,0,-200), v200,fine ,tool0 WObj:= wobjO ; MoveJ pzhuanhuan,v1000 ,fine ,tool0 WObj:= wobjO ; Movej Offs (p50,0,0,-200), v1000 ,fine ,tool0 WObj:= wobjO ; MoveL p50 ,v200,fine ,tool0 WObj:= wobjO ; MoveC p60 ,p70 ,v200,fine ,toolOWObj:= wobjO ; MoveL offs (p70,0,0,-200) , v200,fine ,tool0 WObj:= wobjO ; MoveJ pzhuanhuan ,v1000,fine,toolOWObj:= wobjO ; MoveJ Offs (p80,0,0,-200), v1000,fine,toolOWObj:= wobjO ; MoveL p80 ,v200,fine ,tool0 WObj:= wobjO ; MoveL p90 ,v200,fine ,tool0 WObj:= wobjO ; MoveL Offs (p9