ABB机器人编程程序解析Word格式文档下载.docx
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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;
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;
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:
Griploadload_Empty;
MoveLoffs(pPointB,0,200,0),v800,z50,tGripper\WObj:
MoveJoffs(pPointB,0,200,500),v1500,z100,tGripper\WObj:
ENDMODULE
ABB机器人编程02
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
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
MoveJPHOME,v1000,z50,tool0;
OpenGripper;
WaitTime5;
WHILEtrueDO
IFPLC=1THEN
TPWrite"
Warning!
Begintomovethenewstaff..."
WaitTime1;
ClkResetclock1;
ClkStartclock1;
MovFromAtoB;
ClkStopclock1;
reg1:
=ClkRead(clock1);
Goodshandlinginplace,ittake(timeinsecond):
"
\Num:
=reg1;
运行时间的显示
ELSETPErase;
Waitingfornewgoods..."
运行状态的提醒
WaitDIPLC,1;
PROCOpenGripper()
将对夹具的控制做在一个例行程序里,方便管理
SetG0;
ResetG1;
PROCCloseGripper()
SetG1;
ResetG0;
PROCMovFromAtoB()
MoveJP30,v1000,z50,tool0;
MoveJP20,v1000,z50,tool0;
MoveLPA,v50,fine,tool0;
CloseGripper;
MoveJP20,v50,z50,tool0;
MoveJP40,v1000,z50,tool0;
MoveLPB,v50,fine,tool0;
MoveLP40,v50,z50,tool0;
ABB机器人编程03
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;
PROCInitAll()
ResetDo_fixOn;
WaitDI\On
ConfJ\On;
ConfL\On;
VelSet80,1000;
AccSet70,70;
MoveJPHome,v150,fine,Tool0\WObj:
=Wobj2;
RETURN;
PROCCircle()
MoveJHome,v60,z0,Tool0\WObj:
waitDI;
work;
resetwaitDI
MoveJHome,v150,fine,Tool0\WObj:
PROCfixopen()
SetDo_fixopen;
PROCfixclose()
ResetDo_fixclose;
PROCWork()
MOVEJA0
v150,z10,Tool0\WObj:
fixopen;
waittime2;
MOVELA1
v30,fine,Tool0\WObj:
fixclose;
MOVEJB0
MOVEjB1
ABB机器人编程04
1、此程序是典型的ABB机器人官方编程思路与方法。
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()
rMoveHome;
WhileTrueDo
Velset100,3000;
AccSet70,70;
rpickworkpiece;
rplaceworkpiece;
endwhile
procrpickworkpiece;
ifworkpiece=false
MoveJpickup,v2000,z5,too10;
IFDI10_pickup=1
THEN
(pickup为PLC发来拾取信号)
ELSEIFDI10_pickup=0THEN
PLC-pickupsignalnoready."
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;
IFDI10_pickon=1
(pickon为PLC检测已放好信号)
PLC-pickONsignalnoready."
workpiece=false
TpReadFknInput,"
Isthepack_machineready"
"
No"
Yes"
(机器是否准备好)
IfnInput=4Then
bReady:
=False;
stop;
ElseIFnInput=5then
=True;
bFirstPickBoard:
Doyouwanttoplaceworkpiece"
(机器人抓头是否工件)
workpiece:
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;
ABB机器人编程05
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:
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;
1
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:
[[0,0,0],[1,0,0,0]],[[0,0,0],[1,0,0,0]]];
CheckHome;
CheckGriper;
Production;
PROCCheckHome()
IFDOutput(do_inhome)=1THEN
nu_inhome:
=1;
ELSE
=0;
TESTnu_inhome
CASE0:
GoHome;
CASE1:
DEFAULT:
error"
Stop;
ENDTEST
PROCCheckGriper()
IFdi_griperclosed=1THEN
ControlGriper;
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:
CloseGriper;
MoveLOffs(roDeFetch,0,0,500),v1000,z100,Tooldata_1\WObj:
MoveLroDeFetch,v1000,fine,Tooldata_1\WObj:
OpenGriper;
PROCCloseGriper()
flag1:
Resetdo_opengriper;
Setdo_closegriper;
WaitDIdi_griperclosed,1\MaxTime:
=3\TimeFlag:
=flag1;
WHILEflag1=TRUEDO
CANN'
TCLOSEGRIPER"
Stop\NoRegain;
PROCOpenGriper()
Se