ABB机器人程序实例.docx
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ABB机器人程序实例
MODULEMainModule
CONSTrobtargetpHome:
=[[,,],[,,,],[0,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONSTrobtargetpPrePickMould:
=[[,,],[,,,],[0,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONSTrobtargetpPrePickClapboard:
=[[,,],[,,,],[-1,-2,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONSTrobtargetpPickMould:
=[[,,],[,,,],[0,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONSTrobtargetpPickClapboard:
=[[,,],[,,,],[0,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONSTrobtargetpPrePlace:
=[[,,],[,,,],[-1,-1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONSTrobtargetpPrePlace10:
=[[,,],[,,,],[-2,-1,-2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONSTrobtargetpPrePlace20:
=[[,,],[,,,],[-2,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONSTrobtargetpPlaceMould:
=[[,,],[,,,],[-2,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONSTrobtargetpPlaceClapboard:
=[[,,],[,,,],[0,1,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONSTrobtargetpPrePlaceClapboard:
=[[,,],[,,,],[0,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONSTrobtargetpPrePickClapboard10:
=[[,,],[,,,],[-1,-1,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONSTrobtargetpPrePickMould10:
=[[,,],[,,,],[-1,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONSTnumnOffs:
=100;
PERSnumnCurOffs:
=100;
CONSTnumnLayer:
=0;
PERSnumnCurLayer:
=0;
CONSTnumnThickness:
=40;
VARboolbTimeOut:
=FALSE;
PERSboolbDryCycle:
=FALSE;
VARintnumiDryCycle;
VARintnumiResDryCycle;
VARintnumiVacuum;
PERStooldatatGripper:
=[TRUE,[[0,0,100],[1,0,0,0]],[,[,,],[1,0,0,0],,,]];
PROCmain（）
rInitAll;
WHILETRUEDO
IFsiDryCycle=1ornCurLayer<1then
rPickClapboard;
ELSE
rPickMould;
ENDIF
Waittime;
ENDWHILE
ENDPROC
PROCrPickMould（）
DIWaitdiMouldready,1,3,"entranceConveyer","readyforpick";
DIWaitdiPlaceReady,1,3,"exitConveyer","readyforremove";
MoveJpPrePickMould,v1500,z50,tGripper;
IFBitCheck（nCurlayer,1）THEN
nCurOffs:
=nOffs;
ELSE
nCurOffs:
=-nOffs;
ENDIF
MoveLoffs（pPickMould,0,nCurOffs,100+nCurLayer*nThickness）,v1000,z50,tGripper;
MoveLoffs（pPickMould,0,nCurOffs,（nCurLayer-1）*nThickness）,v200,fine,tGripper;
GripClose;
DecrnCurLayer;
MoveLoffs（pPickMould,0,nCurOffs,100+nCurLayer*nThickness）,v200,z50,tGripper;
MoveJpPrePickMould,v1000,z50,tGripper;
DIWaitdiPlaceReady,1,3,"exitConveyer","readyforremove";
MoveJpPrePlace10,v1500,z10,tGripper;
MoveLoffs（pPlaceMould,0,0,100）,v1500,z10,tGripper;
MoveLpPlaceMould,v200,fine,tGripper;
GripOpen;
MoveLoffs（pPlaceMould,0,0,100）,v200,z10,tGripper;
MoveLpPrePlace10,v1500,z10,tGripper;
MoveJpPrePickMould,v1500,z10,tGripper;
PulseDO\PLength:
=2,doMouldPlaceOK;
ENDPROC
PROCrPickClapboard（）
DIWaitdiMouldready,1,3,"entranceConveyer","readyforpick";
MoveLoffs（pPickClapboard,0,0,100）,v1000,z50,tGripper;
MoveLpPickClapboard,v200,fine,tGripper;
GripClose;
MoveLoffs（pPickClapboard,0,0,100）,v200,z50,tGripper;
MoveLoffs（pPickClapboard,0,0,500）,v1000,z50,tGripper;
MoveLpPrePlaceClapboard,v1000,z10,tGripper;
DIWaitdiClapboardReady,1,3,"exitConveyer","readyforremove";
MoveLoffs（pPlaceClapboard,-700,-200,250）,v1000,z10,tGripper;
MoveLoffs（pPlaceClapboard,00,-10,100）,v1000,z10,tGripper;
MoveLpPlaceClapboard,v100,fine,tGripper;
GripOpen;
MoveLoffs（pPlaceClapboard,0,-50,100）,v1000,z10,tGripper;
MoveLoffs（pPlaceClapboard,-700,-200,250）,v1000,z10,tGripper;
MoveLpPrePlaceClapboard,v1000,z10,tGripper;
PulseDO\PLength:
=,doClapboardPickOK;
MoveJpHome,v1500,fine,tGripper;
PulseDO\PLength:
=,doUnStackOk;
WaitTime2;
DIWaitdiMouldready,0,3,"exitConveyer","readyforremove";
nCurLayer:
=nLayer;
ENDPROC
PROCrInitAll（）
IFdiVacuum1=0THEN
WaitTime1;
ELSE
ErrWrite"TheRob1grippererror!
","Thegripperisnotopened!
"\RL2:
="Checkthegrippersignalpostion."\RL3:
="openthegrippermanuallyandtakeawaythepartfromgripper.";
Stop;
Exit;
ENDIF
rMoveHome;
nCurLayer:
=nLayer;
IDeleteiVacuum;
CONNECTiVacuumWITHtLostPart;
ISignalDIdiVacuum1,1,iVacuum;
ISleepiVacuum;
ENDPROC
ROCGripClose（）
SetDOdoVacuum,1;
SetDOdoBlow,0;
WaitUntildiVacuum1=1\MaxTime:
=10\TimeFlag:
=bTimeOut;
IFbTimeOutTHEN
ErrWrite"RobGripperSignalerror!
","FatalerrorinGripper"\RL2:
="Checkthegrippersignalpostion."\RL3:
="changeanewsensor.";
Stop;
ENDIF
Waittime;
IWatchiVacuum;
ENDPROC
PROCGripOpen（）
ISleepiVacuum;
SetDOdoVacuum,0;
PulseDO\PLength:
=,doBlow;
WaitUntildiVacuum1=0\MaxTime:
=5\TimeFlag:
=bTimeOut;
IFbTimeOutTHEN
ErrWrite"RobGripperSignalerror!
","FatalerrorinGripper"\RL2:
="Checkthegrippersignalpostion."\RL3:
="changeanewsensor.";
Stop;
ENDIF
Waittime;
ENDPROC
PROCrMoveHome（）
VARstringHomeOffset;
CONSTnumMinX:
=-500;
CONSTnumMaxX:
=500;
CONSTnumMinY:
=-500;
CONSTnumMaxY:
=500;
CONSTnumMinZ:
=500;
CONSTnumMaxZ:
=1200;
VARrobtargetActualPos;
VelSet100,500;
AccSet70,70;
IFbCurrentPos（pHome,tGripper,50）=TRUETHEN
MoveJpHome,v500,fine,tGripper\WObj:
=wobj0;
ENDIF
IFbCurrentPos（pPrePickMould,tGripper,50\wobj:
=Wobj0）=TRUETHEN
MoveJpHome,v500,fine,tGripper\WObj:
=wobj0;
ENDIF
IFbCurrentPos（pPrePickClapboard,tGripper,100\wobj:
=Wobj0）=TRUETHEN
MoveJpHome,v500,fine,tGripper\WObj:
=wobj0;
ENDIF
IFbCurrentPos（pPreplace,tGripper,100\wobj:
=Wobj0）=TRUETHEN
MoveJpHome,v500,fine,tGripper\WObj:
=wobj0;
ENDIF
IFbCurrentPos（pHome,tGripper,100）=FALSETHEN
!
Ifnoknownpositionisfound,checkiftherobotisinaspecified
!
windowandmovehimtothefirstpositionintheprogram
ActualPos:
=CRobT（\Tool:
=tGripper\WObj:
=wobj0）;
IFORORORORORTHEN
HomeOffset:
="";
IFTHEN
HomeOffset:
=HomeOffset+"X:
"+NumToStr"";
ELSEIFTHEN
HomeOffset:
=HomeOffset+"X:
"+NumToStr"";
ELSE
HomeOffset:
=HomeOffset+"X:
OK";
ENDIF
IFTHEN
HomeOffset:
=HomeOffset+"Y:
"+NumToStr"";
ELSEIFTHEN
HomeOffset:
=HomeOffset+"Y:
"+NumToStr"";
ELSE
HomeOffset:
=HomeOffset+"Y:
OK";
ENDIF
IFTHEN
HomeOffset:
=HomeOffset+"Z:
"+NumToStr"";
ELSEIFTHEN
HomeOffset:
=HomeOffset+"Z:
"+NumToStr"";
ELSE
HomeOffset:
=HomeOffset+"Z:
OK";
ENDIF
ErrWriteHomeOffset,"Moverobotmanuallynearhomeposition";
WHILEOpMode（）<>OP_MAN_PROGDO
TPErase;
TPWrite"PleaseswitchrobottoManualmode";
!
TPErase;
Stop;
ENDWHILE
Stop;
MoveJpHome,v500,fine,tGripper;
!
npallet:
=4;
ActualPos:
=CRobT（\Tool:
=tGripper\WObj:
=wobj0）;
WHILEOpMode（）<>OP_AUTODO
TPErase;
TPWrite"PleaseswitchrobottoAUTOmode";
!
TPErase;
Stop;
ENDWHILE
ENDIF
ENDIF
VelSet100,3000;
ENDPROC
TRAPtLostPart
ErrWrite"Partlost!
","FatalerrorinGripper"\RL2:
="Checkthegripper."\RL3:
="checkthevacuum.";
Stop;
ENDTRAP
ENDMODULE
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