T-01-O-A-搬运压铸检测及入库仿真工作站机器人程序清单

1、一、程序清单MODULE Module1 CONST robtarget pHome:=476.257603671,0,487.823041378,0.49999989,0,0.866025467,0,0,0,0,0,9E9,9E9,9E9,9E9,9E9,9E9; !定义初始工作点 CONST robtarget pPickBase:=254.691923959,-406.456321401,122.099725032,0.493741266,0.509221861,0.496098245,-0.500798551,-1,0,-1,1,9E9,9E9,9E9,9E9,9E9,9E9; !定义

2、取工件点 CONST robtarget pPickCover:=96.809609878,-410.558832569,122.643559039,0.493800607,0.509207192,0.498261486,-0.498602536,-1,0,0,1,9E9,9E9,9E9,9E9,9E9,9E9; !定义取工件环点 CONST robtarget pPlaceInCasting:=396.110507095,-56.918596192,225.595904039,0.70972185,0.000673696,0.704466064,0.004691194,-1,-1,0,1,9

3、E9,9E9,9E9,9E9,9E9,9E9; !定义放置到压铸机构点 CONST robtarget pPickFromCasting:=399.105225703,-56.829603396,261.949150887,0.706432059,0.004390228,0.707753576,0.004398563,-1,-1,0,1,9E9,9E9,9E9,9E9,9E9,9E9; !定义从压铸机构取出点 CONST robtarget pPlaceInStore:=138.360272171,502.599223653,312.785607909,0.493944296,-0.50149

4、8613,0.499454926,0.505037573,0,-1,0,1,9E9,9E9,9E9,9E9,9E9,9E9; !定义放置到仓库基准点 CONST robtarget pChecking:=523.943259806,-57.088150515,473.210150845,0.709598646,0.00075987,0.704590293,0.004658657,-1,-1,0,1,9E9,9E9,9E9,9E9,9E9,9E9; !定义视觉检测点 CONST robtarget pPushToTrash:=-77.766200016,380.605666682,139.824

5、260826,0.290011937,-0.214895135,0.932571461,0.00486081,1,1,-1,1,9E9,9E9,9E9,9E9,9E9,9E9; !定义放置到垃圾箱点 PERS string CheckedColour:="G" !定义视觉检测到的颜色 PERS num nCounter:=0; !定义放置到垃圾箱的高度变量 PROC rTeaching() !工作点示教子程序 MoveJ pHome,v1000,fine,Gripper407_1WObj:=wobj0; !初始工作点 MoveJ pPickBase,v1000,fine,G

6、ripper407_1WObj:=wobj0; !取工件点 MoveJ pPickCover,v1000,fine,Gripper407_1WObj:=wobj0; !取工件环点 MoveJ pPlaceInCasting,v1000,fine,Gripper407_1WObj:=wobj0; !放置到压铸机构点 MoveJ pPickFromCasting,v1000,fine,Gripper407_1WObj:=wobj0; !从压铸机构取出点 MoveJ pPlaceInStore,v1000,fine,Gripper407_1WObj:=wobj0; !放置到仓库基准点 MoveJ p

7、Checking,v1000,fine,Gripper407_1WObj:=wobj0; !视觉检测点 ENDPROC PROC Initial() !初始化子程序 nCounter:=0; !定义在开始后放置到垃圾箱的最低高度 Reset do_CastClamp; !压铸机构平行气夹松开 Reset do_CastXmove; !压铸机构X方向回原点 Reset do_CastZmove; !压铸机构Z方向收回 Reset do_TransmitBase; !关停传送带（工件） Reset do_TransmitCover; !关停传送带（工件环） Reset do_WorkpieceBa

8、se; !送料机构（工件）收回 Reset do_WorkpieceCover; !送料机构（工件环）收回 Reset do_Gripper; !松开机器人上的气爪 Reset do_Checking; !视觉检测复位 MoveJ pHome,v1000,z5,Gripper407_1WObj:=wobj0; !回到初始工作点 WaitTime 1; rPushBase; !推出第一个工件并开传送带 rPushCover; !推出第一个工件环并开传送带 ENDPROC PROC rPushBase() !送料机构推出工件子程序 Set do_WorkpieceBase; !推出工件 WaitT

9、ime 0.5; Reset do_WorkpieceBase; !推杆收回 WaitTime 0.1; Set do_TransmitBase; !打开传送带 ENDPROC PROC rPushCover() !送料机构推出工件环子程序 Set do_WorkpieceCover; !推出工件环 WaitTime 0.5; Reset do_WorkpieceCover; !推杆收回 WaitTime 0.1; Set do_TransmitCover; !打开传送带 ENDPROC PROC rPickWorkpieceBase() !机器人从传送带上取工件子程序 ReSet do_Gr

10、ipper; !松开气爪 MoveJ offs(pPickBase,0,0,100),v1000,z10,Gripper407_1WObj:=wobj0; !运动到抓取点的正上方100 WaitDI di_WorkpieceBaseInPos,1; !等待工件从传送带上传送到位 Reset do_TransmitBase; !关闭传送带 MoveLDO pPickBase,v500,fine,Gripper407_1WObj:=wobj0,do_Gripper,1; !运动到抓取点并抓取 WaitTime 0.5; MoveL offs(pPickBase,0,0,100),v1000,z10

11、,Gripper407_1WObj:=wobj0; !运动到抓取点的正上方100 rPushBase; !调用送料机构推出工件子程序 ENDPROC PROC rPlaceWorkpieceBase() !机器人将工件放置到压铸台子程序 MoveJ offs(pPlaceInCasting,0,0,100),v1000,z10,Gripper407_1WObj:=wobj0; !运动到压铸台的正上方100 MoveLDO pPlaceInCasting,v500,fine,Gripper407_1WObj:=wobj0,do_Gripper,0; !运动到压铸台的并放下工件 Reset do_

12、Gripper; WaitTime 0.5; MoveL offs(pPlaceInCasting,0,0,100),v500,z10,Gripper407_1WObj:=wobj0; !运动到压铸台的正上方100 ENDPROC PROC rPickWorkpieceCover() !机器人从传送带上取工件环子程序 Reset do_Gripper; !松开气爪 MoveJ offs(pPickCover,0,0,100),v1000,z10,Gripper407_1WObj:=wobj0; !运动到抓取点的正上方100 WaitDI di_WorkpieceCoverInPos,1; !等

13、待工件从传送带上传送到位 Reset do_TransmitCover; !关闭传送带 MoveLDO pPickCover,v200,fine,Gripper407_1WObj:=wobj0,do_Gripper,1; !运动到抓取点并抓取 WaitTime 0.5; MoveL offs(pPickCover,0,0,100),v1000,z10,Gripper407_1WObj:=wobj0; !运动到抓取点的正上方100 rGetColour; !调用视觉检测子程序 rPushCover; !调用送料机构推出工件环子程序 ENDPROC PROC rPlaceWorkpieceCove

14、r() !机器人将工件环放置到压铸台子程序 MoveJ offs(pPlaceInCasting,0,0,100),v1000,z10,Gripper407_1WObj:=wobj0; !运动到压铸台的正上方100 MoveLDO offs(pPlaceInCasting,3,0,36),v200,fine,Gripper407_1WObj:=wobj0,do_Gripper,0; !运动到压铸台的并放下工件环 WaitTime 0.5; MoveL offs(pPlaceInCasting,0,0,100),v500,z10,Gripper407_1WObj:=wobj0; !运动到压铸台的

15、正上方100 ENDPROC PROC rCasting() !压铸子程序 Set do_CastClamp; !夹紧平行气夹 WaitTime 0.5; Set do_CastXmove; !X方向运行到工作点 WaitDI di_CastXmoveInWork,1; !等待X方向运行到位 Set do_CastZmove; !Z方向向下压铸 WaitTime 0.5; Reset do_CastZmove; !Z方向收回 WaitTime 0.5; Reset do_CastXmove; !X方向回原点 WaitDI di_CastXmoveInHome,1; !等待X方向回到原点 Res

16、et do_CastClamp; !松开平行气夹 WaitTime 0.5; ENDPROC PROC rPickCasting() !从压铸机构取出成品子程序 MoveJ offs(pPickFromCasting,0,0,100),v1000,z10,Gripper407_1WObj:=wobj0; !运动到压铸台取出点的正上方100 MoveLDO offs(pPickFromCasting,0,0,-28),v500,fine,Gripper407_1WObj:=wobj0,do_Gripper,1; !运动到压铸台取出点并夹紧工件 WaitTime 0.5; MoveL offs(p

17、PickFromCasting,0,0,100),v500,z0,Gripper407_1WObj:=wobj0; !运动到压铸台取出点的正上方100 ENDPROC PROC rStoring(num layer,num col) !存储到仓库子程序 MoveJ offs(pPlaceInStore,col*95-95,-150,240-120*layer),v1000,z10,Gripper407_1WObj:=wobj0; !运动到存储点外侧150（Y方向负150） !“col”为列，“95”为列宽，“layer”为层，从上层至下层为1-3，“120”为层高 MoveL offs(pPl

18、aceInStore,col*95-95,0,240-120*layer),v500,z0,Gripper407_1WObj:=wobj0; !运动到存储点 WaitTime 0.6; Reset do_Gripper; !松开气夹 WaitTime 0.5; MoveJ offs(pPlaceInStore,col*95-95,-150,240-120*layer),v1000,z10,Gripper407_1WObj:=wobj0; !运动到存储点外侧150（Y方向负150） ENDPROC PROC rPushToTrash() !放置到垃圾库子程序 MoveJ Offs(pPushTo

19、Trash,0,0,250),v1000,fine,Gripper407_1WObj:=wobj0; !运动到放置点的正上方250 MoveJDO Offs(pPushToTrash,0,0,nCounter*10),v1000,fine,Gripper407_1WObj:=wobj0,do_Gripper,0; !运动到放置点 !"nCounter"为计数，每放置一个后向上10mm WaitTime 0.5; MoveJ Offs(pPushToTrash,0,0,250),v1000,fine,Gripper407_1WObj:=wobj0; !运动到放置点的正上方25

20、0 nCounter:=nCounter+1; !计数加1 ENDPROC PROC rGetColour() !工件颜色判断子程序 IF di_CoverYellow=1 THEN CheckedColour:="Y" !若检测到黄色，则CheckedColour赋值"Y" ELSEIF di_CoverGreen=1 THEN CheckedColour:="G" !若检测到绿色，则CheckedColour赋值"G" ELSEIF di_CoverBlue=1 THEN CheckedColour:=&quo

21、t;B" !若检测到蓝色，则CheckedColour赋值"B" ELSE CheckedColour:="non" !若检测失败，则CheckedColour赋值"non" ENDIF ENDPROC PROC rChecking() !视觉检测子程序 MoveJ Offs(pChecking,-100,0,0),v500,fine,Gripper407_1WObj:=wobj0; !运动到检测点的X方向-100 MoveJ pChecking,v300,fine,Gripper407_1WObj:=wobj0; !运动到检测点 Set do_Checking; !使能相机开始检测 WaitTime 0.8; Reset do_Checking; !停止检测 ENDPROC PROC main() VAR num Yellow_num:=0; !定义黄色工件的当前个数 VAR num Green_num:=0; !定义绿色工件的当前个数 VAR num Blue_num:=0; !定义蓝色工件的当前个数 Initial; !初始化 WHILE TRUE DO MoveJ pHome,v1000,z5,Gripper407_1WObj:=wob