（中职） 工业机器人任务6 机器人搬运手机入仓的程序设计与调试（三菱机器人）教学课件（）

（中职）工业机器人任务6机器人搬运手机入仓的程序设计与调试（三菱机器人）教学课件（工信版）【工作情景】

一台手机自动化生产设备中由一台ABB6轴机器人完成手机按键的组装工作按键生产好后用托盘按照一定规律进行排列，待装配的手机放在固定的位置，现在工业机器人与PLC的线路已经接好，请设计PLC与工业机器人程序。【任务描述】

按键托盘按照规定的位置和方向放好，手机底座也在规定的位置放好后，在六轴机器人单元的操作面板上按下启动按钮，工业机器人依次将手机按键从托盘中取出放到手机底座上。装配好一个手机后更换夹具进行加盖操作并根据装配结果分类放入仓库，如果仓库超过容量则暂停待清空仓库后继续。待换好手机底座和手机盖后按下启动按钮继续运行，循环四次后托盘中的按键全部装配完成后停止。【任务要求】根据任务描述设计工业机器人程序和PLC程序。【能力目标】1、了解工业机器人与PLC的配合；2、掌握工业机器人程序的编写；3、掌握工业机器人在手机按键装配加盖入仓中的应用；【任务准备】1.理论知识准备合格与不合格的判断，在产品生产过程中不可避免会产生不良品，出现不良品的时候必须将不良品筛选出来，根据不良品的情况进行相应的处理。而合格的产品则可以包装好出货。按键装配过程中产生不良品的原因有：1）原材料有不良品导致装配好的产品不良2）装配过程中由于吸盘等需定期更换的材料没有及时更换导致少键等不良3）工作过程中的干扰因素导致的产品不良。你可能需要获得以下的资讯，才能更好地完成工作任务……………………【任务准备】2、准备工具为完成工作任务，每个工作小组需要向工作站内仓库工作人员提供借用工具清单序号名称型号数量借出时间学生签名归还时间学生签名备注

表9-5-1工具借用清单【任务准备】3、准备材料为完成工作任务，每个工作小组需要向工作站内仓库工作人员提供领用材料清单序号名称型号数量借出时间学生签名归还时间学生签名备注

表9-5-2材料借用清单【任务计划】掌握好理论知识，完成任务要求；小组共同分析、讨论决策出最优实施步骤方案；再由组长进行任务分工，完成机器人与PLC配合实现手机按键的程序设计和调试；还等什么?赶快决策出工作计划并实施它………………………【任务实施】1、根据控制要求分析动作流程1)2)3)4)5)6)7)8)9)10)11)12)13)【任务实施】2、设计工业机器人程序1DefIoin6=Bit,62DefIoin7=Bit,73DefIoin8=Bit,84DefIoin9=Bit,95DefIoin10=Bit,106DefIoin11=Bit,117DefIoin13=Bit,138DefIoin14=Bit,149DefIoin15=Bit,1510DefIoout5=Bit,511DefIoout6=Bit,612DefIoout7=Bit,713DefIoout8=Bit,814DefIoout11=Bit,1115DefIoout12=Bit,1216DefIoout13=Bit,1317DefIoout14=Bit,14'换料18DefIoout15=Bit,1519DefIntem0,m1,m2,m3,m4,m5,m6,m10,m11,m12,m20,m21,m22,m10020DefIntecmd21DefJntjsafe【任务实施】22DefPlt1,p1,p2,p3,,4,3,2'码垛变量23jsafe=(+0.00,-30.00,+120.00,+0.00,+90.00,-90.00)'初始化位置24p0=(+0.00,+0.00,-22.00)'加盖台仓库上方偏移量25Pm=(+0.00,+0.00,-16.00)'按键上方偏移量26'-----main27GoSub*init28Waitin14=129Waitin15=130Form2%=0To331cmd%=132GoSub*key_in33GoSub*keying34GoSub*corev35Next36Hlt37End38'-------main39'----子程序40*init41Ifin10+in11+in13=3ThenGoSub*NG42p99=P_Curr43Ovrd1544GoSub*hauy45Ovrd10046Clr147Clr248p24=(+0.00,+0.00,+0.01,+0.00,+0.00,+0.00)49Ifin9=1Orm0%=0Then50GoSub*origin【任务实施】51m0%=152Ifin9=1Then53Ifin10=1Andin11=0Andin13=0Thencmd%=154Ifin10=0Andin11=1Andin13=0Thencmd%=255Ifin10=0Andin11=0Andin13=1Thencmd%=356Ifcmd%<>0ThenGoSub*key_out57Movjsafe58out5=159M_00#=060Hlt61EndIf62EndIf63Return64'-----------origin回到初始化位置65*origin66j1=J_Curr67j1.J2=jsafe.J268j1.J3=jsafe.J369j1.J4=jsafe.J470j1.J5=jsafe.J571Ovrd4072Movj173Movjsafe74Ovrd10075Return76'-------keying码按键77*keying78Form1%=1To779p101=p10080Ifm1%>4Thenp4=Plt1,m1%+4Elsep4=Plt1,m1%【任务实施】81Ifm2%=1Orm2%=3Thenp4.Y=p4.Y+1282Ifm2%=1Orm2%=3Thenp101.Y=p101.Y+17.8883Ifm2%=2Orm2%=3Thenp4.X=p4.X+1284Ifm2%=2Orm2%=3Thenp101.X=p101.X+17.8885Ifm1%=7Then86Mvsp4*Pm87Mvsp488Dly0.289out12=190Dly0.291Mvsp4*Pm92p4=Plt1,893Ifm2%=1Orm2%=3Thenp4.Y=p4.Y+1294Ifm2%=2Orm2%=3Thenp4.X=p4.X+1295EndIf96'--------…^计算轨迹位置97Movp4*Pm98Mvsp499Dly0.2100out12=1101out13=1102Dly0.2103Mvsp4*Pm104'-------------^执行轨迹运动105Movp5'码垛盘与手机底座中间过渡点106m3%=1107'-------计算轨迹位置108Ifm1%<5Thenp4=p6Elsep4=p7109Selectm1%110Case1'2111p4.Y=p4.Y+24112Break113Case2'5114p4.Y=p4.Y+12【任务实施】115Break116'case3'8117Case4'拨号键118p4.X=p4.X+12119p4.Y=p4.Y-13.91120Break121Case5'3122p4.Y=p4.Y+24123Break124Case6'6125p4.Y=p4.Y+12126Break127'case7'9128EndSelect129'-------------计算轨迹位置130'-------------执行轨迹运动131Mvsp4*Pm132Mvsp4133Dly0.2134Ifm1%<5Thenout13=0Elseout12=0135Dly0.2136Mvsp4*Pm137'-------------^执行轨迹运动138'-------------计算轨迹位置139Selectm1%140Case1To3'741141p4.X=p4.X-18.57142Break143Case4'#144p4=p7145p4.X=p4.X-12146p4.Y=p4.Y+12+12147Break148Case5To6'*0【任务实施】149p4.X=p4.X+18.57150p4.Y=p4.Y-12151Break152Case7153p4.X=p4.X+18.57154p4.Y=p4.Y-13.91155Break156EndSelect157'-------------计算轨迹位置158'-------------执行轨迹运动159Mvsp4*Pm160Mvsp4161Dly0.2162Ifm1%>4Thenout13=0Elseout12=0163Dly0.2164Mvsp4*Pm165Movp5166m3%=0167Nextm1%168'-------------------方向键169p4=p101170Mvsp4*Pm171Mvsp4172Dly0.2173out12=1174Mvsp4*Pm175Movp5176Mvsp8*Pm177Mvsp8178Dly0.2179out12=0180Dly0.2181Mvsp8*Pm182m6%=2【任务实施】183GoSub*key_out184Return185'--------------------------------------------------------------入库186*corev187cmd%=3188out6=1189m6%=1190GoSub*key_in191Movjsafe192out6=0193out12=1194Ifin7=1Andin8=0Thenm20%=1195Ifin7=1Andin8=1Thenm20%=2196Ifm20%=1Thenm21%=m21%+1197Ifm20%=2Thenm22%=m22%+1198Ifm21%=5ThenWaitin14=1199Ifm22%=5ThenWaitin15=1200Movp10201Mvsp11*p0202Ovrd20203Mvsp11204Dly0.1205out12=0206out13=1207Dly0.3208out15=1209Dly1210out15=0211Mvsp11*p0212Ovrd60213m5%=1'标记1复位用标m5%214Movp10215Movp12216Mvsp13*p0【任务实施】217m5%=2'标记2218Ovrd15219Mvsp13220Dly0.1221out7=1222Dly0.8223out7=0224Mvsp13*p0225Ovrd65226Mvsp12227m5%=3'标记3228Ifm20%=1Then229m5%=0230Ifm21%=5Thenm21%=1231Movp14'仓库1上空232Ovrd20233Ifm21%=1ThenMvsp15'p15仓库底部234Ifm21%=2ThenMvsp15*p0235Ifm21%=3ThenMvsp15*p0*p0236Ifm21%=4ThenMvsp15*p0*p0*p0237Dly0.2238out13=0239out12=1240Dly0.1241Mvsp14242EndIf'------------------243Ifm20%=2Then244m5%=0245Ifm22%=5Thenm22%=1246Movp16'仓库2上空247Ovrd20248Ifm22%=1ThenMvsp17'p15仓库底部249Ifm22%=2ThenMvsp17*p0250Ifm22%=3ThenMvsp17*p0*p0【任务实施】251Ifm22%=4ThenMvsp17*p0*p0*p0252Dly0.2253out13=0254out12=1255Dly0.1256Mvsp16257EndIf258Ovrd100259out12=0260Movjsafe261Ifm2%=3Thenout14=1262Ifm2%=3ThenDly1263out8=1264GoSub*key_out265out14=0266out8=0267Return268'-------------拿抓手269*key_in270Ifcmd%=1Thenp40=p21271Ifcmd%=2Thenp40=p22272Ifcmd%=2Thenp24=(+0.00,-50.00)273Ifcmd%=3Thenp40=p23274Ifm6%<>1ThenMovp20275m6%=0276Movp40*(+0.00,+0.00,-30.00)277Ovrd20278out11=1279M_00#=1280Mvsp40281Dly0.1282out11=0283Dly0.1284Mvsp40*(+0.00,+0.00,-15.00)【任务实施】285Mvsp40*(+0.00,+120.00,-20.00)*p24286Mvsp40*(+0.00,+120.00,-80.00)*p24287Movp20288p24=(+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)289Ovrd75290Return291'-------------放抓手292*key_out293Ifcmd%=1Thenp40=p21294Ifcmd%=2Thenp40=p22295Ifcmd%=2Thenp24=(+0.00,-50.00)296Ifcmd%=3Thenp40=p23297Ifcmd%=3Thenout13=1298Movp20299out13=0300Mvsp40*(+0.00,+120.00,-80.00)*p24301Mvsp40*(+0.00,+120.00,-20.00)*p24302Ovrd15303Mvsp40*(+0.00,+0.00,-10.00)304Mvsp40305Dly0.1306out11=1307Movp40*(+0.00,+0.00,-35.00)308out11=0309M_00#=0310Ifm6%<>2ThenMovp20311m6%=0312p24=(+0.00,+0.00,+0.00,+0.00,+0.00,+0.00)313Ovrd100314Return315'---------------------仓库1复位程序316*ck1317IfM_Out(13)=1Then318Ifm21%=1ThenMvsp15【任务实施】319Ifm21%=2ThenMvsp15*p0320Ifm21%=3ThenMvsp15*p0*p0321Ifm21%=4ThenMvsp15*p0*p0*p0322Dly0.2323out13=0324out12=1325Dly0.1326EndIf327Mvsp14328out12=0329Return330'---------------仓库2复位程序331*ck2332IfM_Out(13)=1Then333Ifm22%=1ThenMvsp17334Ifm22%=2ThenMvsp17*p0335Ifm22%=3ThenMvsp17*p0*p0336Ifm22%=4ThenMvsp17*p0*p0*p0337Dly0.2338out13=0339out12=1340Dly0.1341EndIf342Mvsp16343out12=0344Return345'--------------抓手复位程序346*hauy347m10%=Zone2(P_Curr,p21,p23,20)348m11%=Zone2(P_Curr,p21,p23,121)349m12%=Zone2(P_Curr,p21,p23,200)350IfM_00#=0Orcmd%=0Orm10%=0Andm11%=0Andm12%=0ThenReturn351Ifcmd%=1Thenp40=p21352Ifcmd%=2Thenp40=p22【任务实施】353Ifcmd%=2Thenp24=(+0.00,-50.00)354Ifcmd%=3Thenp40=p23355p50=p40*(+0.00,+0.00,-20.00)356p51=p40*(+0.00,+120.00,-20.00)357p52=p40*(+0.00,+120.00,-80.00)358Ifm10%=1Andm11%=1Andm12%=1ThenMvsp40359Ifm10%=0Andm11%=1Andm12%=1Then360Mvsp50361Mvsp40362EndIf363Ifm10%=0Andm11%=0Andm12%=1Then364Mvsp51365Mvsp50366Mvsp40367EndIf368Dly0.1369out11=1370Dly0.1371Mvsp50*(+0.00,+0.00,-20.00)372M_00#=0373Return374'---------------码按键出错复位375*outkey376Ifcmd%<>1ThenReturn377Ifm1%>4Thenp4=Plt1,m1%+4Elsep4=Plt1,m1%378Ifm3%=1ThenMovp5379Ifm1%=7Then380p4=Plt1,8381Ifm2%=1Orm2%=3Thenp4.Y=p4.Y+12382Ifm2%=2Orm2%=3Thenp4.X=p4.X+12383Mvsp4*Pm384Mvsp4385Dly0.2386out13=0【任务实施】387Dly0.2388Mvsp4*Pm389p4=Plt1,11390Ifm2%=1Orm2%=3Thenp4.Y=p4.Y+12391Ifm2%=2Orm2%=3Thenp4.X=p4.X+12392EndIf393Ifm2%=1Orm2%=3Thenp4.Y=p4.Y+12394Ifm2%=2Orm2%=3Thenp4.X=p4.X+12395Movp4*Pm396Mvsp4397Dly0.2398out12=0399out13=0400Dly0.2401Mvsp4*Pm402Return403'----------9000error报警404*NG405Error9000406Hltp1=(+308.98,-138.26,+304.44,-179.36,-1.74,-88.48)(7,0)p2=(+398.86,-140.07,+305.49,-179.33,-0.71,-88.49)(7,0)p3=(+308.72,-78.13,+304.18,-179.36,-1.74,-88.48)(7,0)p0=(+0.00,+0.00,-22.00,+0.00,+0.00,+0.00,+0.00,+0.00)(,)Pm=(+0.00,+0.00,-16.00,+0.00,+0.00,+0.00,+0.00,+0.00)(,)p99=(+155.01,+0.01,+474.18,-179.99,+0.01,-89.99,+0.00,+0.00)(7,0)p24=(+0.00,+0.00,+0.01,+0.00,+0.00,+0.00,+0.00,+0.00)(,)p101=(+385.38,-46.49,+304.66,-179.36,-1.74,-88.48,+0.00,+0.00)(7,0)p100=(+385.38,-46.49,+304.66,-179.36,-1.74,-88.48)(7,0)p4=(+385.38,-46.49,+304.66,-179.36,-1.74,-88.48,+0.00,+0.00)(7,0)p5=(+231.29,+18.47,+330.42,-179.36,-1.74,-53.32,+0.00,+0.00)(7,0)p6=(+285.23,+197.27,+317.57,-180.00,-1.21,+1.25,+0.00,+0.00)(7,0)p7=(+243.72,+197.54,+317.26,-180.00,-1.21,+1.25,+0.00,+0.00)(7,0)p8=(+251.80,+183.90,+317.72,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0)【任务实施】p10=(-172.93,-233.62,+346.75,+180.00,+0.00,-90.00,+0.00,+0.00)(7,15728640)p11=(-169.07,-431.24,+274.92,+179.70,+0.97,-88.73,+0.00,+0.00)(7,15728640)p12=(+253.66,+84.81,+346.75,+180.00,+0.00,+0.00,+0.00,+0.00)(7,0)p13=(+268.31,+205.51,+274.74,+179.23,+0.51,+90.69,+0.00,+0.00)(7,15728640)p14=(+34.34,-311.55,+338.46,+180.00,+0.00,-88.88,+0.00,+0.00)(7,0)p15=(+34.34,-311.55,+289.93,+180.00,+0.00,-88.88,+0.00,+0.00)(7,0)p16=(+34.34,-437.50,+338.46,+180.00,+0.00,-88.88,+0.00,+0.00)(7,0)p17=(+34.34,-444.96,+289.93,+180.00,+0.00,-88.88,+0.00,+0.00)(7,0)p40=(-47.43,+281.52,+233.63,-179.43,-0.03,+1.42,+0.00,+0.00)(7,0)p21=(+76.02,+281.52,+233.63,-179.43,-0.03,+1.42)(7,0)p22=(-47.43,+281.52,+233.63,-179.43,-0.03,+1.42)(7,0)p23=(-165.40,+281.52,+233.63,-179.43,-0.03,+1.42)(7,0)p20=(-2.18,+154.98,+421.67,-180.00,+0.02,+0.80)(7,0)p50=(+76.01,+281.32,+253.62,-179.43,-0.03,+1.42,+0.00,+0.00)(7,0)p51=(+78.99,+16