ABB机器人程序实例

1、MODULE Mai nM oduleCONSTrobtargetpHome:=1525.42,272.18,1873.69,4.42963E-05,0.699969, -0.7141 73,-2.80277E-05,0,-1,- 1,0,9E+09,9E+09,9E+09,9E+09,9E+09,9 E+09;CONSTrobtargetpPrePickMould:=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+09,9 E+09,9E+09

2、;CONSTrobtargetpPrePickClapboard:=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+09,9 E+09,9E+09;CONSTrobtargetpPickMould:=1943.13,173.08,630.89,4.66987E-05,0.699977,-0.7 14166，-3.24109E-05,0,-1,- 1,0,9E+09,9E+09,9E+09,9E+09,9E+0 9,9E+09;CONSTrobtarge

3、tpPickClapboard:=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+09,9 E+09,9E+09;CONSTrobtarget pPrePlace:=785.90, -957.40,1722.38,0.00231652,0.0492402,-0.99 8779,-0.00310842,-1,-1,- 1,0,9E+09,9E+09,9E+09,9E+09,9E+09, 9E+09;CONSTrobtargetpPrePlace10

4、:=-277.40,-1202.57,1621.17,0.00183571, -0.0139794, -0.999895,-0.00341408,-2,-1,-2,0,9E+09,9E+09,9E+09,9E+09,9 E+09,9E+09;CONSTrobtargetpPrePlace20:=-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;CONSTrobtargetpPlaceMould:=-92.13,-2580

5、.19,1171.45,0.000771646,0.713144,0 .701007,0.00383692,-2,0,-1,0,9E+09,9E+09,9E+09,9E+09,9E+0 9,9E+09;CONSTrobtargetpPlaceClapboard:=1585.08,1761.04,787.33,0.00645323,-0.00552 996,-0.726358, -0.687263,0,1,-1,0,9E+09,9E+09,9E+09,9E+09,9 E+09,9E+09;CONSTrobtargetpPrePlaceClapboard:=1017.30,955.85,1443.

6、17,1.0621E-05，-0.00 849593,-0.999964,4.01139E-05,0,-1,0,0,9E+09,9E+09,9E+09,9E +09,9E+09,9E+09;CONSTrobtargetpPrePickClapboard10:=2257.17,-841.03,1579.56,0.667517,0.744 57,-0.00360206,0.00487631, -1,-1,2,0,9E+09,9E+09,9E+09,9E+0 9,9E+09,9E+09;CONSTrobtargetpPrePickMould10:=530.24,-1703.27,1762.63,5.

7、07659E-05,0.961 61,0.274421,2.37287E-05, -1,0,0,0,9E+09,9E+09,9E+09,9E+09,9 E+09,9E+09;CONST num nOffs:=100;PERS num n CurOffs:=100;CONST num nLayer:=0;PERS num n CurLayer:=0;CONST num n Thick ness:=40;VAR bool bTimeOut:=FALSE;PERS bool bDryCycle:=FALSE;VAR intnum iDryCycle;VAR intnum iResDryCycle;V

8、AR intnum iVacuum;PERStooldatatGripper:=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 mai n()rIn itAII;WHILE TRUE DOIF siDryCycle=1 or nCurLayer<1 the nrPickClapboard;ELSErPickMould;ENDIFWaittime 0.2;ENDWHILEENDPROCPROC rPickMould()DIWait diMouldready,1,3,"entrance

9、 Conveyer","ready for pick"DIWait diPlaceReady,1,3,"exit Co nveyer","ready forremove"MoveJ pPrePickMould, v1500, z50, tGripper;IF BitCheck( nCurlayer,1) THENn CurOffs:=nOffs;ELSEn CurOffs:=-nOffs;ENDIFMoveLoffs(pPickMould,0, nCurOffs,100+nCurLayer* nThick ness),v10

10、00,z50, tGripper;MoveLoffs(pPickMould,0, nCurOffs,( nCurLayer-1)* nThick ness), v200, fine,tGripper;GripClose;Decr n CurLayer;MoveLoffs(pPickMould,0, nCurOffs,100+nCurLayer* nThick ness),v200,z50, tGripper;MoveJ pPrePickMould, v1000, z50, tGripper;DIWait diPlaceReady,1,3,"exit Co nveyer",&

11、quot;readyforremove"MoveJ pPrePlace10, v1500, z10, tGripper;MoveL offs(pPlaceMould,0,0,100), v1500, z10, tGripper;MoveL pPlaceMould, v200, fine, tGripper;GripOpe n;MoveL offs(pPlaceMould,0,0,100), v200, z10, tGripper;MoveL pPrePlacelO, v1500, z10, tGripper;MoveJ pPrePickMould, v1500, z10, tGrip

12、per;PulseDO'PLe ngth:=2, doMouldPlaceOK;ENDPROCPROC rPickClapboard()DIWait diMouldready,1,3,"entrance Conveyer","ready forpick"MoveL offs(pPickClapboard,0,0,100), v1000, z50, tGripper;MoveL pPickClapboard, v200, fine, tGripper;GripClose;MoveL offs(pPickClapboard,0,0,100) ,v20

13、0, z50, tGripper;MoveL offs(pPickClapboard,0,0,500) ,v1000, z50, tGripper;MoveL pPrePlaceClapboard, v1000, z10, tGripper;DIWait diClapboardReady, 1, 3, "exit Conveyer", "readyfor remove"MoveL offs(pPlaceClapboard,-700,-200,250), v1000, z10,tGripper;MoveL offs(pPlaceClapboard,00,-

14、10,100), v1000, z10,tGripper;MoveL pPIaceClapboard, v100, fine, tGripper;GripOpe n;MoveL offs(pPlaceClapboard,0,-50,100), v1000,z10,tGripper;MoveL offs(pPlaceClapboard,-700,-200,250), v1000, z10, tGripper;MoveL pPrePlaceClapboard, v1000, z10, tGripper;PulseDO'PLe ngth:=1.O, doClapboardPickOK;Mov

15、eJ pHome, v1500, fine, tGripper;PulseDO'PLe ngth:=1.O, doU nStackOk;WaitTime 2;DIWait diMouldready,0,3,"exit Con veyer","ready forremove"n CurLayer:=nLayer;ENDPROCPROC rIn itAll()IF diVacuum 1=0 THENWaitTime 1;ELSEErrWrite "The Rob1 gripper error! " ,"The gripp

16、er isnot opened!"RL2:="Check the gripper signal postion ."RL3:=" open the gripper manually and take away the part from gripper."Stop;Exit;ENDIFrMoveHome;n CurLayer:=nLayer;IDelete iVacuum;CONNECT iVacuum WITH tLostPart;ISignalDI diVacuum1, 1, iVacuum;ISleep iVacuum;ENDPROCRO

17、C GripClose()SetDO doVacuum,1;SetDO doBlow,0;WaitU ntildiVacuum 仁 1MaxTime:=10TimeFlag:=bTimeOut;IF bTimeOut THENErrWrite "Rob Gripper Sig nal error ! " ,"Fatal error inGripper"RL2:="Check the gripper signal postion ."RL3:=" change a new sen sor ."Stop;ENDIFWa

18、ittime 0.5;IWatch iVacuum;ENDPROCPROC GripOpen()ISleep iVacuum;SetDO doVacuum,0;PulseDO PLe ngth:=2.0, doBlow;WaitU ntildiVacuum1=0MaxTime:=5TimeFlag:=bTimeOut;IF bTimeOut THENErrWrite "Rob Gripper Sig nal error ! " ,"Fatal error in Gripper"RL2:="Check the gripper signal pos

19、tion ."RL3:=" change a new sen sor ."Stop;ENDIFWaittime 0.5;ENDPROCPROC rMoveHome()VAR stri ng HomeOffset;CONST num Min X:=-500;CONST num MaxX:=500;CONST num MinY :=-500;CONST num Max Y:=500;CONST num Min Z:=500;CONST num MaxZ:=1200;VAR robtarget ActualPos;VelSet 100,500;AccSet 70, 70

20、;IF bCurre ntPos(pHome,tGripper,50)=TRUE THENM oveJ pHome,v500,fi ne,tGripperWObj:=wobj0;ENDIFIF bCurre ntPos(pPrePickMould,tGripper,50wobj:=Wobj0)=TRUE THENM oveJ pHome,v500,fi ne,tGripperWObj:=wobj0;ENDIFIFbCurre ntPos(pPrePickClapboard,tGripper,100wobj:=Wobj0)=TRUE THENM oveJ pHome,v500,fi ne,tGr

21、ipperWObj:=wobj0;ENDIFIF bCurre ntPos(pPreplace,tGripper,100wobj:=Wobj0)=TRUE THENM oveJ pHome,v500,fi ne,tGripperWObj:=wobjO;ENDIFIF bCurre ntPos(pHome,tGripper,100)=FALSE THEN! If no known positi on is found, check if the robot is in a specified! window and move him to the first position in the pr

22、ogram ActualPos:=CRobT(Tool:=tGripperWObj:=wobj0);IF ActualPos.trans.xvMinX OR ActualPos.trans.x>MaxXOR ActualPos.trans.yvMinY OR ActualPos.trans.y>MaxY ORActualPos.tra ns.zvMi nZ OR ActualPos.tra ns.z>MaxZ THENHomeOffset:=""IF ActualPos.tra ns.xvMi nX THENHomeOffset:=HomeOffset+&

23、quot;X :"+NumToStr(Mi nX-ActualPos.tra ns.x,0)+""ELSEIF ActualPos.tra ns.x>MaxX THENHomeOffset:=HomeOffset+"X :"+NumToStr(MaxX-ActualPos.tra ns.x,0)+""ELSEHomeOffset:=HomeOffset+"X : OK "ENDIFIF ActualPos.tra ns.yvMi nY THENHomeOffset:=HomeOffset+"

24、;Y :"+NumToStr(MinY-ActualPos.trans. y,0)+""ELSEIF ActualPos.tra ns.y>MaxY THENHomeOffset:=HomeOffset+"Y :"+NumToStr(MaxY-ActualPos.trans .y,0)+""ELSEHomeOffset:=HomeOffset+"Y : OK "ENDIFIF ActualPos.tra ns.zvMi nZ THENHomeOffset:=HomeOffset+"Z :"+NumToStr(MinZ-ActualPos