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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：20145.7 编制单位：南京工业职业技术学院案例2说明：功能：机器人将竖立在铁板上的直线和半圆形的铁板，焊接到水平的铁板上；运动轨迹编程过程：1、 规划运动路径；2、定义16个TCP目标点，机器人通过完成这16个点位的运动路径，完成焊接任务，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3机器人工作站图案例3机器人程序：MODULE MainModuleCONST robtarget pHome:=1018.6

2、1,0.00,1417.50,0.5,0,0.866025,0,0,0,0,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09;CONST robtarget p10:=1432.72,791.80,925.28,0.235026,0.244611,0.937471,-0.0779516,0,-1,0,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09;CONST robtarget p20:=1157.58,380.34,925.28,0.235026,0.244611,0.937471,-0.0779515,0,-1,0,0,9E+09,9E

3、+09,9E+09,9E+09,9E+09,9E+09;CONST robtarget p30:=1190.81,246.23,928.03,0.211161,-0.558634,0.791589,0.129326,0,0,-1,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09;CONST robtarget p40:=1283.49,216.68,928.03,0.211161,-0.558634,0.791589,0.129327,0,0,-1,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09;CONST robtarget p50:=1

4、328.17,215.50,928.03,0.247112,-0.124608,0.960811,0.0158227,0,0,-1,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09;CONST robtarget p60:=1422.64,2.54,928.03,0.246147,0.042655,0.967918,-0.0269537,0,-1,0,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09;CONST robtarget p70:=1136.13,-434.83,908.75,0.23419,0.0879897,0.955756,0

5、.154734,-1,0,-1,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09;CONST robtarget p80:=1416.82,-862.00,910.75,0.23419,0.0879893,0.955756,0.154734,-1,0,-1,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09;CONST robtarget p90:=1145.93,881.37,729.37,0.575078,-0.173767,0.75393,-0.265857,0,-2,1,0,9E+09,9E+09,9E+09,9E+09,9E+09,9

6、E+09;CONST robtarget p100:=852.88,433.76,729.37,0.575078,-0.173767,0.75393,-0.265857,0,-2,1,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09;CONST robtarget p110:=836.58,298.70,725.78,0.658805,0.0263649,0.751852,0.000210758,0,-2,1,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09;CONST robtarget p120:=1142.93,46.21,725.78

7、,0.658805,0.0263644,0.751851,0.000210653,0,-2,1,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09;CONST robtarget p130:=838.68,-253.03,720.96,0.657877,-0.0412885,0.748056,-0.0768449,-1,-3,2,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09;CONST robtarget p140:=826.54,-350.19,719.69,0.646715,0.129613,0.742251,0.118421,-1,-

8、3,2,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09;CONST robtarget p150:=1113.34,-784.88,722.45,0.646714,0.129613,0.742252,0.118422,-1,-3,2,0,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09;PROC main()WHILE TRUE DO WaitDI di01,1;WaitTime 0.3;ENDWHILE ArcLStart Offs (p10,0,0,160),v1000,z5, tWeldGun WObj:=wobj1; ArcL p10

9、,v200,z5, tWeldGun WObj:=wobj1; ArcL p20 ,v200,z5, tWeldGun WObj:=wobj1; ArcL Offs (p20 ,0,0,160),v200,z5, tWeldGun WObj:=wobj1; ArcL Offs (p30,0,0,160),v200,z5, tWeldGun WObj:=wobj1; ArcCStart p30 ,v200,z5, tWeldGun WObj:=wobj1; ArcC offs(p40,0,5,0) ,p50 ,v200,z5, tWeldGun WObj:=wobj1; ArcC offs(p6

10、0,0,10,0) ,p70 ,v200,z5, tWeldGun WObj:=wobj1; ArcCEnd p80 ,v200,z5, tWeldGun WObj:=wobj1; ArcLEnD Offs (p80,0,0,160),v200,z5, tWeldGun WObj:=wobj1; MoveJ pHome ,v1000,z5, tWeldGun WObj:=wobj1; ArcLStart Offs (p90,0,0,160),v1000,z5, tWeldGun WObj:=wobj1; ArcL p90 ,v200,z5, tWeldGun WObj:=wobj1; ArcL

11、 p100 ,v200,z5, tWeldGun WObj:=wobj1; ArcL Offs (p100 ,0,0,160),v200,z5, tWeldGun WObj:=wobj1; ArcL Offs (p110,0,0,160),v200,z5, tWeldGun WObj:=wobj1; ArcCStart offs(p110,0,-10,0) ,v200,z5, tWeldGun WObj:=wobj1; ArcC offs(p120,0,-15,0) ,offs(p130,0,-10,0) ,v200,z5, tWeldGun WObj:=wobj1; ArcCEnd Offs (p130 ,0,0,160),v200,z5, tWeldGun WObj:=wobj1; ArcL Offs (p140 ,0,0,160),v200,z5, tWeldGun WObj:=wobj1; ArcL p140 ,v200,z5, tWe

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