ABB机器人程序实例

1、MODULE MainModuleCONSTrobtargetpHome:=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;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+09,9E+09,9E+09;CONSTrob

2、targetpPrePickClapboard:=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;CONSTrobtargetpPickMould:=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;CONSTrobtargetpPickClapboard

3、:=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;CONSTrobtargetpPrePlace:=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;CONSTrobtargetpPrePlace10:=-277.40,-1202.57,1621

4、.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;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,-2580.19,1171.45,0.000771646,0.71

5、3144,0.701007,0.00383692,-2,0,-1,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09;CONSTrobtargetpPlaceClapboard:=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;CONSTrobtargetpPrePlaceClapboard:=1017.30,955.85,1443.17,1.0621E-05,-0.00849593,-0.9999

6、64,4.01139E-05,0,-1,0,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09;CONSTrobtargetpPrePickClapboard10:=2257.17,-841.03,1579.56,0.667517,0.74457,-0.00360206,0.00487631,-1,-1,2,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09;CONSTrobtargetpPrePickMould10:=530.24,-1703.27,1762.63,5.07659E-05,0.96161,0.274421,2.37287E-05

7、,-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;PERStooldatatGripper:=TRUE,

8、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 nCurLayer<1 thenrPickClapboard;ELSErPickMould;ENDIFWaittime 0.2;ENDWHILEENDPROCPROC rPickMould()DIWait diMouldready,1,3,"entrance Conveyer","ready forpick"DIWait

9、 diPlaceReady,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,(nCu

10、rLayer-1)*nThickness), v200, fine, tGripper;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, tG

11、ripper;MoveL offs(pPlaceMould,0,0,100), v1500, z10, tGripper;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 rPickClap

12、board()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) ,v200, z50, tGripper;MoveL offs(pPickClapboard,0,0,500) ,v1000, z50,

13、tGripper;MoveL pPrePlaceClapboard, v1000, z10, tGripper;DIWait diClapboardReady, 1, 3, "exit Conveyer", "readyfor remove"MoveL offs(pPlaceClapboard,-700,-200,250), v1000, z10,tGripper;z10,MoveL offs(pPlaceClapboard,00,-10,100), v1000,tGripper;MoveL pPlaceClapboard, v100, fine, tG

14、ripper;GripOpen;MoveL offs(pPlaceClapboard,0,-50,100), v1000,z10,tGripper;MoveL offs(pPlaceClapboard,-700,-200,250), v1000,z10,tGripper;MoveL pPrePlaceClapboard, v1000, z10, tGripper;PulseDOPLength:=1.0, doClapboardPickOK;MoveJ pHome, v1500, fine, tGripper;PulseDOPLength:=1.0, doUnStackOk;forWaitTim

15、e 2;DIWait diMouldready,0,3,"exit Conveyer","readyremove"nCurLayer:=nLayer;ENDPROCPROC rInitAll()IF diVacuum1=0 THENWaitTime 1;ELSEErrWrite "The Rob1 gripper error! " ,"The gripper isnot opened!"RL2:="Check the gripper signal postion ."RL3:=" op

16、en the gripper manually and take away the part from gripper."Stop;Exit;ENDIF rMoveHome;nCurLayer:=nLayer;IDelete iVacuum;CONNECT iVacuum WITH tLostPart;ISignalDI diVacuum1, 1, iVacuum;ISleep iVacuum;ENDPROCROC GripClose()SetDO doVacuum,1;SetDO doBlow,0;WaitUntildiVacuum1=1MaxTime:=10TimeFlag:=b

17、TimeOut;IF bTimeOut THENErrWrite "Rob Gripper Signal error ! " ,"Fatal error inGripper"RL2:="Check the gripper signal postion ."RL3:=" changea new sensor ."Stop;ENDIFWaittime 0.5;IWatch iVacuum;ENDPROCPROC GripOpen()ISleep iVacuum;SetDO doVacuum,0;PulseDO PLen

18、gth:=2.0, doBlow;WaitUntildiVacuum1=0MaxTime:=5TimeFlag:=bTimeOut;IF bTimeOut THENErrWrite "Rob Gripper Signal error ! " ,"Fatal error inGripper"RL2:="Check the gripper signal postion ."RL3:=" change a new sensor ."Stop;ENDIFWaittime 0.5;ENDPROCPROC rMoveHome(

19、)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,tGripperWObj:=wobj0;ENDIFIF bCurrent

20、Pos(pPrePickMould,tGripper,50wobj:=Wobj0)=TRUE THENMoveJ pHome,v500,fine,tGripperWObj:=wobj0;ENDIFIFbCurrentPos(pPrePickClapboard,tGripper,100wobj:=Wobj0)=TRUE THENMoveJ pHome,v500,fine,tGripperWObj:=wobj0;ENDIFIFbCurrentPos(pPreplace,tGripper,100wobj:=Wobj0)=TRUE THENMoveJ pHome,v500,fine,tGripperW

21、Obj:=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.x<MinX OR ActualPos.trans.x>MaxXOR ActualPos

22、.trans.y<MinY OR ActualPos.trans.y>MaxY ORActualPos.trans.z<MinZ OR ActualPos.trans.z>MaxZ THENHomeOffset:=""IF ActualPos.trans.x<MinX THENHomeOffset:=HomeOffset+"X :"+NumToStr(MinX-ActualPos.trans.x, 0)+" "ELSEIF ActualPos.trans.x>MaxX THENHomeOffset:

23、=HomeOffset+"X :"+NumToStr(MaxX-ActualPos.trans .x,0)+" "ELSEHomeOffset:=HomeOffset+"X : OK "ENDIFIF ActualPos.trans.y<MinY THENHomeOffset:=HomeOffset+"Y :"+NumToStr(MinY-ActualPos.trans.y,0)+" "ELSEIF ActualPos.trans.y>MaxY THENHomeOffset:=HomeOffset+"Y :"+NumToStr(MaxY-ActualPos.trans.y,0)+" "ELSEHomeOffset:=HomeOffset+"Y : OK "ENDIFIF ActualPos.trans.z<MinZ THENHomeOffset:=HomeOffset+"Z :"+NumToStr(MinZ-ActualPos.trans.z