ABB机器人程序实例Word文档下载推荐.docx
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=[[1017.30,955.85,1443.17],[1.0621E-05,-0.00849593,-0.999964,4.01139E-05],[0,-1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONSTrobtargetpPrePickClapboard10:
=[[2257.17,-841.03,1579.56],[0.667517,0.74457,-0.00360206,0.00487631],[-1,-1,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONSTrobtargetpPrePickMould10:
=[[530.24,-1703.27,1762.63],[5.07659E-05,0.96161,0.274421,2.37287E-05],[-1,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONSTnumnOffs:
=100;
PERSnumnCurOffs:
CONSTnumnLayer:
=0;
PERSnumnCurLayer:
CONSTnumnThickness:
=40;
VARboolbTimeOut:
=FALSE;
PERSboolbDryCycle:
VARintnumiDryCycle;
VARintnumiResDryCycle;
VARintnumiVacuum;
PERStooldatatGripper:
=[TRUE,[[0,0,100],[1,0,0,0]],[88.5,[-3.7,-1.4,132.1],[1,0,0,0],5.5,17.831,25.067]];
PROCmain（）
rInitAll;
WHILETRUEDO
IFsiDryCycle=1ornCurLayer<
1then
rPickClapboard;
ELSE
rPickMould;
ENDIF
Waittime0.2;
ENDWHILE
ENDPROC
PROCrPickMould（）
DIWaitdiMouldready,1,3,"
entranceConveyer"
"
readyforpick"
;
DIWaitdiPlaceReady,1,3,"
exitConveyer"
readyforremove"
MoveJpPrePickMould,v1500,z50,tGripper;
IFBitCheck（nCurlayer,1）THEN
nCurOffs:
=nOffs;
ELSE
=-nOffs;
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;
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;
PROCrPickClapboard（）
MoveLoffs（pPickClapboard,0,0,100）,v1000,z50,tGripper;
MoveLpPickClapboard,v200,fine,tGripper;
MoveLoffs（pPickClapboard,0,0,100）,v200,z50,tGripper;
MoveLoffs（pPickClapboard,0,0,500）,v1000,z50,tGripper;
MoveLpPrePlaceClapboard,v1000,z10,tGripper;
DIWaitdiClapboardReady,1,3,"
"
MoveLoffs（pPlaceClapboard,-700,-200,250）,v1000,z10,tGripper;
MoveLoffs（pPlaceClapboard,00,-10,100）,v1000,z10,tGripper;
MoveLpPlaceClapboard,v100,fine,tGripper;
MoveLoffs（pPlaceClapboard,0,-50,100）,v1000,z10,tGripper;
=1.0,doClapboardPickOK;
MoveJpHome,v1500,fine,tGripper;
PulseDO\PLength:
=1.0,doUnStackOk;
WaitTime2;
DIWaitdiMouldready,0,3,"
nCurLayer:
=nLayer;
ENDPROC
PROCrInitAll（）
IFdiVacuum1=0THEN
WaitTime1;
ELSE
ErrWrite"
TheRob1grippererror!
"
"
Thegripperisnotopened!
"
\RL2:
="
Checkthegrippersignalpostion."
\RL3:
openthegrippermanuallyandtakeawaythepartfromgripper."
Stop;
Exit;
ENDIF
rMoveHome;
IDeleteiVacuum;
CONNECTiVacuumWITHtLostPart;
ISignalDIdiVacuum1,1,iVacuum;
ISleepiVacuum;
ENDPROC
ROCGripClose（）
SetDOdoVacuum,1;
SetDOdoBlow,0;
WaitUntildiVacuum1=1\MaxTime:
=10\TimeFlag:
=bTimeOut;
IFbTimeOutTHEN
RobGripperSignalerror!
FatalerrorinGripper"
changeanewsensor."
ENDIF
Waittime0.5;
IWatchiVacuum;
PROCGripOpen（）
ISleepiVacuum;
SetDOdoVacuum,0;
PulseDO\PLength:
=2.0,doBlow;
WaitUntildiVacuum1=0\MaxTime:
=5\TimeFlag:
ENDIF
PROCrMoveHome（）
VARstringHomeOffset;
CONSTnumMinX:
=-500;
CONSTnumMaxX:
=500;
CONSTnumMinY:
CONSTnumMaxY:
CONSTnumMinZ:
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
IFbCurrentPos（pPrePickClapboard,tGripper,100\wobj:
ENDIF
IFbCurrentPos（pPreplace,tGripper,100\wobj:
IFbCurrentPos（pHome,tGripper,100）=FALSETHEN
!
Ifnoknownpositionisfound,checkiftherobotisinaspecified
windowandmovehimtothefirstpositionintheprogram
ActualPos:
=CRobT（\Tool:
=tGripper\WObj:
=wobj0）;
IFActualPos.trans.x<
MinXORActualPos.trans.x>
MaxXORActualPos.trans.y<
MinYORActualPos.trans.y>
MaxYORActualPos.trans.z<
MinZORActualPos.trans.z>
MaxZTHEN
HomeOffset:
MinXTHEN
=HomeOffset+"
X:
+NumToStr（MinX-ActualPos.trans.x,0）+"
ELSEIFActualPos.trans.x>
MaxXTHEN
+NumToStr（MaxX-ActualPos.trans.x,0）+"
ELSE
OK"
IFActualPos.trans.y<
MinYTHEN
Y:
+NumToStr（MinY-ActualPos.trans.y,0）+"
ELSEIFActualPos.trans.y>
MaxYTHEN
+NumToStr（MaxY-ActualPos.trans.y,0）+"
IFActualPos.trans.z<
MinZTHEN
Z:
+NumToStr（MinZ-ActualPos.trans.z,0）+"
ELSEIFActualPos.trans.z>
+NumToStr（MaxZ-ActualPos.trans.z,0）+"
ErrWriteHomeOffset,"
Moverobotmanuallynearhomeposition"
WHILEOpMode（）<
>
OP_MAN_PROGDO
TPErase;
TPWrite"
PleaseswitchrobottoManualmode"
TPErase;
ENDWHILE
MoveJpHome,v500,fine,tGripper;
npallet:
=4;
OP_AUTODO
PleaseswitchrobottoAUTOmode"
VelSet100,3000;
TRAPtLostPart
Partlost!
Checkthegripper."
checkthevacuum."
ENDTRAP
ENDMODULE
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