ABB机器人编程程序解析

ABB机器人编程1程序解析：1、此程序是典型的ABB机器人官方编程思路与方法，分为主程序，初始化例行程序和轨迹程序。2、思路清晰，结构编排明确，方便使用者阅读。%%%

VERSION:1

LANGUAGE:ENGLISH

%%%

MODULEMainModule

PERStooldatatGripper:=[TRUE,[[0,0,100],[1,0,0,0]],[25,[0,0,10],[1,0,0,0],0,0,0]];

PERSwobjdataWobBox:=[FALSE,TRUE,"",[[1,1,1],[0,0,0,0]],[[0,0,0],[1,0,0,0]]];

CONSTrobtargetpPointA:=[[1,1,1],[1,1,1,1],[-1,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];

CONSTrobtargetpPointB:=[[1,1,1],[1,1,1,1],[-1,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];

CONSTrobtargetPHome:=[[1,1,1],[1,1,1,1],[-1,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];

PERSloaddataload_Empty:=[1,[0,0,0],[1,0,0,0],0,0,0];

PERSloaddataload_Box:=[20,[0,0,0],[1,0,0,0],0,0,0];

以上是固定的数据存放位置。

PROCmain()

主程序，是一个程序的开始

rInitial;

Accset60,60;

此部分其实可放入到rInitial中去，这样管理起来更方便

velset100,100;

此部分其实可放入到rInitial中去，这样管理起来更方便

WHILETRUEDO

rBox;

在此指令后插入0.3秒的等待指令，防止CPU过负荷的情况出现。

ENDWHILE

ENDPROC

PROCrInitial()

SetDoDOGrip,0;

WaitDIDIGripReleased,1;

MoveJpHome,v300,z50,tGripper;

ENDPROC

PROCrBox()

MoveJoffs(pPointA,0,200,500),v1500,z100,tGripper;

MoveJoffs(pPointA,0,200,0),v1500,z50,tGripper;

A:

TPErase;

IFDIAllowPick=1

THEN

WaitTime0;

ELSEIFDIAllowPick=0THEN

TPWrite"SignalofAllowPicknoready,PleaseCheck!";

GOTOA;

ENDIF

MoveLpPointA,v800,fine,tGripper;

SetDoDOGrip,1;

WaitDIDIGripPicked,1;

Griploadload_Box;

这一句很重要的，设定机器人的实际负荷情况，有利于机器人伺服控制的优化

MoveJoffs(pPointA,0,0,500),v1000,z100,tGripper;

MoveJoffs(pPointB,0,0,200),v1000,z50,tGripper\WObj:=WobBox;

MoveLpPointB,v1000,fine,tGripper\WObj:=WobBox;

SetDoDOGrip,0;

WaitDIDIGripReleased,1;

Griploadload_Empty;

MoveLoffs(pPointB,0,200,0),v800,z50,tGripper\WObj:=WobBox;

MoveJoffs(pPointB,0,200,500),v1500,z100,tGripper\WObj:=WobBox;

ENDPROCENDMODULEABB机器人编程02程序解析：1、此程序编写的思路是完全按照比赛题目中的要求的进行，就是按步就班式的2、思路清晰，结构编排明确，方便使用者阅读。3、有相应的写屏信息提示，方便操作员对机器人运行状态的了解。4、有一点小问题，就是缺少初始化的部分。

MODULEMainModule

CONSTrobtargetPHOME:=[[1149.87,13.55,451.35],[0.729477,0.0748599,0.679603,0.0199765],[0,0,0,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];

CONSTrobtargetPA:=[[250.14,-652.34,650.90],[0.429093,0.468557,-0.496153,0.591749],[-1,0,-2,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];

CONSTrobtargetP20:=[[250.14,-652.35,828.56],[0.429091,0.468538,-0.496163,0.591756],[-1,0,-3,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];

CONSTrobtargetP30:=[[695.24,18.14,826.55],[0.0377066,-0.677588,0.0913591,-0.728771],[0,0,-2,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];

CONSTrobtargetP40:=[[1227.51,18.14,826.55],[0.0377092,-0.677583,0.0913642,-0.728774],[0,0,-3,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];

CONSTrobtargetPB:=[[1227.52,18.15,424.02],[0.0377092,-0.677591,0.0913577,-0.728767],[0,0,-2,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];

PROCmain()

在主程序里，过于臃肿，将具体功能尽量细分到例行程序

TPErase;

MoveJPHOME,v1000,z50,tool0;

OpenGripper;

WaitTime5;

WHILEtrueDO

IFPLC=1THEN

TPErase;

TPWrite"Warning!Begintomovethenewstaff...";

WaitTime1;

ClkResetclock1;

ClkStartclock1;

MovFromAtoB;

ClkStopclock1;

reg1:=ClkRead(clock1);

TPErase;

TPWrite"Goodshandlinginplace,ittake(timeinsecond):"\Num:=reg1;

运行时间的显示

WaitTime5;

ELSETPErase;

TPWrite"Waitingfornewgoods...";

运行状态的提醒

WaitDIPLC,1;

ENDIF

ENDWHILE

ENDPROC

PROCOpenGripper()

将对夹具的控制做在一个例行程序里，方便管理

SetG0;

ResetG1;

ENDPROC

PROCCloseGripper()

将对夹具的控制做在一个例行程序里，方便管理

SetG1;

ResetG0;

ENDPROC

PROCMovFromAtoB()

MoveJP30,v1000,z50,tool0;

MoveJP20,v1000,z50,tool0;

MoveLPA,v50,fine,tool0;

WaitTime1;

CloseGripper;

WaitTime1;

MoveJP20,v50,z50,tool0;

MoveJP30,v1000,z50,tool0;

MoveJP40,v1000,z50,tool0;

MoveLPB,v50,fine,tool0;

WaitTime1;

OpenGripper;

WaitTime1;

MoveLP40,v50,z50,tool0;

MoveJP30,v1000,z50,tool0;

MoveJPHOME,v1000,z50,tool0;

ENDPROC

ENDMODULE

ABB机器人编程03程序解析：1、此程序是典型的ABB机器人官方编程思路与方法，分为主程序，初始化例行程序和轨迹程序。2、思路清晰，结构编排明确，方便使用者阅读。3、但有点要注意的初始化例行程序只在开始时，执行一次，正常运行时，不再执行。但此程序是每个循环都会进行一次初始化，是有点问题的。

PROCmain()

InitAll;

此初始化程序应与循环执行的程序隔离开，使用WHILE指令

Circle;

WaitTime0.5;

ENDPROC

PROCInitAll()

ResetDo_fixOn;

WaitDI\On

ConfJ\On;

ConfL\On;

VelSet80,1000;

AccSet70,70;

MoveJPHome,v150,fine,Tool0\WObj:=Wobj2;

RETURN;

ENDPROC

PROCCircle()

MoveJHome,v60,z0,Tool0\WObj:=Wobj2;

waitDI;

work;

resetwaitDI

MoveJHome,v150,fine,Tool0\WObj:=Wobj2;

ENDPROC

PROCfixopen()

SetDo_fixopen;

ENDPROC

PROCfixclose()

ResetDo_fixclose;

ENDPROC

PROCWork()

MOVEJA0

v150,z10,Tool0\WObj:=Wobj2;

fixopen;

waittime2;

MOVELA1

v30,fine,Tool0\WObj:=Wobj2;

fixclose;

waittime2;

MOVEJB0

v150,z10,Tool0\WObj:=Wobj2;

MOVEjB1

v30,fine,Tool0\WObj:=Wobj2;

fixopen;

waittime2;

MoveJPHome,v150,fine,Tool0\WObj:=Wobj2;

ENDPROCABB机器人编程04程序解析：1、此程序是典型的ABB机器人官方编程思路与方法。2、思路清晰，结构编排明确，方便使用者阅读。3、此程序有一个亮点，就是有一个回等待点的例行程序rMoveHome，这个好处在于可以在手动状态下，就能方便的回到机器人的等待位置。4、有足够的写屏信息，很好地提示运行状态。

PROCMain()

rInitial;

rMoveHome;

WhileTrueDo

Velset100,3000;

AccSet70,70;

rpickworkpiece;

rplaceworkpiece;

endwhile

procrpickworkpiece;

ifworkpiece=false

MoveJpickup,v2000,z5,too10;

A:

TPErase;

IFDI10_pickup=1

THEN

(pickup为PLC发来拾取信号)

WaitTime0;

ELSEIFDI10_pickup=0THEN

TPWrite"PLC-pickupsignalnoready.";

GOTOA;

ENDIF

MoveJOffs(pickup,0,0,300),v500,z200,too10;

SetDoDO10_pickup1,1;

waittime

1;

workpiece=ture

endif

endproc

procrplaceworkpiece;

ifworkpiece=ture

MoveJplacemiddle,v2000,z5,too10;

MoveJplaceworkpiece,v2000,z5,too10;

MoveJOffs(placeworkpiece,0,0,300),v500,z200,too10;

SetDoDO10_pickup1,0;

A:

TPErase;

IFDI10_pickon=1

THEN

(pickon为PLC检测已放好信号)

WaitTime0;

ELSEIFDI10_pickup=0THEN

TPWrite"PLC-pickONsignalnoready.";

GOTOA;

workpiece=false

ENDIF

endproc

PROCrInitial()

TpReadFknInput,"Isthepack_machineready","","","","No","Yes";(机器是否准备好）

IfnInput=4Then

bReady:=False;

stop;

ElseIFnInput=5then

bReady:=True;

ENDIF

bFirstPickBoard:=True;

TpReadFknInput,"Doyouwanttoplaceworkpiece","","","","No","Yes";（机器人抓头是否工件）

IfnInput=4Then

workpiece:=False;

ElseIFnInput=5then

workpiece:=True;

ENDPROC

PROCrMoveHome()

(定义原点）

此例行程序可以方便地回到等待位置

MoveJpHome,v500,z50,tGripper;

ENDPROC

ABB机器人编程05程序解析：1、此程序是典型的ABB机器人官方编程思路与方法。2、思路清晰，结构编排明确，方便使用者阅读。3、此程序共分了3个程序模块，清楚地将不同用途的语句分开，方便阅读，这种编程在进行一些复杂系统的编程是非常有用的。4、里面编程中运用了很多编程技巧，节省了机器人示教的时间，如使用OFFS功能。5、在写屏信息提示方面也非常丰富。6、此程序非常适合大家的参考与提高。7、有一个小问题，缺少搬运重要的负荷重量设定数据。

MODULEData

此模块专门用于存放程序数据的

!target

CONSTjointtargethome_pos:=[[0,0,0,0,90,0],[9E9,9E9,9E9,9E9,9E9,9E9]];

CONSTjointtargetdelta_pos:=[[2,2,2,2,2,2],[9E9,9E9,9E9,9E9,9E9,9E9]];

CONSTjointtargetjhome:=[[0,0,0,0,90,0],[9E9,9E9,9E9,9E9,9E9,9E9]];

PERSrobtargetroFetch:=[[2000,0,233.483269239532],[0,0,1,0],[0,0,0,0],[9E9,9E9,9E9,9E9,9E9,9E9]];

PERSrobtargetroDeFetch:=[[2000,1000,233.483269239532],[0,0,1,0],[0,0,0,0],[9E9,9E9,9E9,9E9,9E9,9E9]];

VARwzstationaryhome;

VARshapedatajoint_space;

VARnumnu_inhome;

VARboolflag1:=FALSE;

ENDMODULE

%%%

VERSION:1

LANGUAGE:ENGLISH

%%%MODULECalibData

此模块用于存放需要设定的程序数据

TASKPERStooldataTooldata_1:=[TRUE,[[0,0,1000],[1,0,0,0]],[1,[0,0,1],[1,0,0,0],0,0,0]];

TASKPERSwobjdataWorkobject_1:=[FALSE,TRUE,"",[[0,0,0],[1,0,0,0]],[[0,0,0],[1,0,0,0]]];

ENDMODULE

MODULEMainModule

PROCmain()

CheckHome;

CheckGriper;

Production;

ENDPROC

PROCCheckHome()

IFDOutput(do_inhome)=1THEN

nu_inhome:=1;

ELSE

nu_inhome:=0;

ENDIF

TESTnu_inhome

CASE0:

GoHome;

CASE1:

RETURN;

DEFAULT:

TPWrite"error";

Stop;

ENDTEST

ENDPROC

PROCCheckGriper()

IFdi_griperclosed=1THEN

ControlGriper;

ELSE

RETURN;

ENDIF

ENDPROC

PROCProduction()

WHILETRUEDO

WaitUntildi_plc=1;

MoveLOffs(roFetch,0,0,500),v1000,z100,Tooldata_1\WObj:=Workobject_1;

利用OFFS此功能，减少示教

MoveLroFetch,v1000,fine,Tooldata_1\WObj:=Workobject_1;

CloseGriper;

MoveLOffs(roFetch,0,0,500),v1000,z100,Tooldata_1\WObj:=Workobject_1;

MoveLOffs(roDeFetch,0,0,500),v1000,z100,Tooldata_1\WObj:=Workobject_1;

MoveLroDeFetch,v1000,fine,Tooldata_1\WObj:=Workobject_1;

OpenGriper;

MoveLOffs(roDeFetch,0,0,500),v1000,z100,Tooldata_1\WObj:=Workobject_1;

ENDWHILE

ENDPROC

PROCCloseGriper()

flag1:=FALSE;

Resetdo_opengriper;

Setdo_closegriper;

WaitDIdi_griperclosed,1\MaxTime:=3\TimeFlag:=flag1;

WHILEflag1=TRUEDO

TPWrite"CANN'TCLOSEGRIPER";

Stop\NoRegain;

ENDWHILE

ENDPROC

PROCOpenGriper()

flag1:=FALSE;

Setdo_opengriper;

Resetdo_closegriper;

WaitDIdi_griperopend,1\MaxTime:=3\TimeFlag:=flag1;

WHILEflag1=TRUEDO

TPWrite"CANN'TOPENGRIPER";

Stop\NoRegain;

ENDWHILE

ENDPROC

PROCDEF_Zone()

对机器人是否在等待位进行检测

WZHomeJointDef\Inside,joint_space,home_pos,delta_pos;

WZDOSet\Stat,home\Inside,joint_space,do_inhome,1;

!RETURN;

ENDPROC

PROCGoHome()

VARbtnresanswer;

VARstringmy_message{2}:=["",""];

CONSTstringmy_buttons{2}:=["MOVETOHOME","STOPPRG"];

丰富的写屏指令

my_message{1}:="RBTISINSAFETYPOSITION";

my_message{2}:="ORCANNOTMOVEAUTOMATICALLY";

answer:=UIMessageBox(

\Header:="RBTISINSAFETYAREATOMOVEONHOME?"

\MsgArray:=my_message

\BtnArray:=my_buttons

\Icon:=iconWarning);

IFanswer=2THEN

EXIT;

!Stop\NoRegain;

ELSE

MoveAbsJjhome\NoEOffs,v100,z5,Tooldata_1;

ENDIF

ENDPROC

PROCControlGriper()

VARbtnresanswer;

VARstringmy_message{2}:=["",""];

CONSTstringmy_buttons{2}:=["OPENGRIPER","STOPPRG"];

丰富的写屏指令

my_message{1}:="GRIPERISNOTEMPTY";

my_message{2}:="ORSENSORISWRONG";

answer:=UIMessageBox(

\Header:="OPENTHEGRIPER?"

\MsgArray:=my_message

\BtnArray:=my_buttons

\Icon:=iconWarning);

IFanswer=2THEN

EXIT;

!Stop\NoRegain;

ELSE

OpenGriper;

ENDIF

ENDPROC

ENDMODULE

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