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
MODULE MainModule
PERS tooldata
tGripper:=[TRUE,[[0,0,100],[1,0,0,0]],[25,[0,0,10],[1,0,0,0],0,0,0]];
PERS wobjdata WobBox:=[FALSE,TRUE,"",[[1,1,1],[0,0,0,0]],[[0,0,0],[1,0,0,0]]];
CONST robtarget
pPointA:=[[1,1,1],[1,1,1,1],[-1,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget
pPointB:=[[1,1,1],[1,1,1,1],[-1,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget
PHome:=[[1,1,1],[1,1,1,1],[-1,0,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
PERS loaddata load_Empty:=[1,[0,0,0],[1,0,0,0],0,0,0];
PERS loaddata load_Box:=[20,[0,0,0],[1,0,0,0],0,0,0];
以上是固定的数据存放位
置。
PROC main()
rInitial;
主程序,是一个程序的开始
Accset 60,60;
此部分其实可放入到 rInitial 中去,这样管理起来更方便
velset 100,100;
此部分其实可放入到 rInitial 中去,这样管理起来更方便
WHILE TRUE DO
rBox;
情况出现。
ENDWHILE
ENDPROC
PROC rInitial()
在此指令后插入 0.3 秒的等待指令,防止 CPU 过负荷的
SetDo DOGrip,0;
WaitDI DIGripReleased,1;
MoveJ pHome, v300, z50, tGripper;
ENDPROC
PROC rBox()
MoveJ offs(pPointA,0,200,500), v1500, z100,tGripper;
MoveJ offs(pPointA,0,200,0), v1500, z50,tGripper;
A:
TPErase;
IF DIAllowPick=1
THEN
WaitTime 0;
ELSEIF DIAllowPick=0 THEN
TPWrite "Signal of AllowPick no ready,Please Check!";
GOTO A;
ENDIF
MoveL pPointA,v800, fine, tGripper;
SetDo DOGrip,1;
WaitDI DIGripPicked,1;
Gripload load_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
MoveJ offs(pPointA,0,0,500), v1000, z100, tGripper;
MoveJ offs(pPointB,0,0,200), v1000, z50, tGripper\WObj:=WobBox;
MoveL pPointB, v1000, fine, tGripper\WObj:=WobBox;
SetDo DOGrip,0;
WaitDI DIGripReleased,1;
Gripload load_Empty;
MoveL offs(pPointB,0,200,0), v800, z50, tGripper\WObj:=WobBox;
MoveJ offs(pPointB,0,200,500), v1500, z100, tGripper\WObj:=WobBox;
ENDPROC
ENDMODULE
ABB 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],[0.729477,0.0748599,0.679603,0.019
9765],[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,-0.496153,0.59174
9],[-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,-0.496163,0.5917
56],[-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,-0.728
771],[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,-0.72
8774],[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,-0.728
767],[0,0,-2,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
PROCmain()
肿,将具体功能尽量细分到例行程序
TPErase;
MoveJPHOME,v1000,z50,tool0;
在主程序里,过于臃
OpenGripper;
WaitTime5;
WHILEtrueDO
IFPLC=1THEN
TPErase;
TPWrite"Warning! Begin to move the new staff...";
WaitTime1;
ClkResetclock1;
ClkStartclock1;
MovFromAtoB;
ClkStopclock1;
reg1:=ClkRead(clock1);
TPErase;
TPWrite"Goods handling in place, it take (time in second): "\Num:=reg1; 运
行时间的显示
WaitTime5;
ELSETPErase;
TPWrite"Waiting for new goods...";
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。
PROC main()
WHILE 指令
InitAll;
此初始化程序应与循环执行的程序隔离开,使用
Circle;
WaitTime 0.5;
ENDPROC
PROC InitAll()
Reset Do_fixOn;
WaitDI\On
ConfJ\On;
ConfL\On;
VelSet 80, 1000;
AccSet 70,70;
MoveJ PHome, v150, fine, Tool0\WObj:=Wobj2;
RETURN;
ENDPROC
PROC Circle()
MoveJ Home, v60, z0, Tool0\WObj:=Wobj2;
waitDI;
work;
reset waitDI
MoveJ Home, v150, fine, Tool0\WObj:=Wobj2;
ENDPROC
PROC fixopen()
Set Do_fixopen;
ENDPROC
PROC fixclose()
Reset Do_fixclose;
ENDPROC
PROC Work()
MOVEJ A0
v150, z10, Tool0\WObj:=Wobj2;
fixopen;
waittime 2;
MOVEL A1
v30, fine,Tool0\WObj:=Wobj2;
fixclose;
waittime 2;
MOVEJ B0
v150, z10, Tool0\WObj:=Wobj2;
MOVEj B1
v30, fine,Tool0\WObj:=Wobj2;
fixopen;
waittime 2;
MoveJ PHome, v150, fine, Tool0\WObj:=Wobj2;
ENDPROC
ABB 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。
PROC Main()
rInitial;
rMoveHome;
While True Do
Velset 100,3000;
AccSet 70, 70;
rpickworkpiece;
rplaceworkpiece;
endwhile
proc rpickworkpiece;
if workpiece=false
MoveJ pickup, v2000, z5, too10;
A:
TPErase;
IF DI10_pickup=1
THEN
(pickup 为 PLC 发来拾取信号)
WaitTime 0;
ELSEIF DI10_pickup=0 THEN
TPWrite "PLC-pickup signal no ready.";
GOTO A;
ENDIF
MoveJ Offs(pickup,0,0,300), v500, z200, too10;
SetDo DO10_pickup1,1;
wait time
1;
workpiece=ture
endif
endproc
proc rplaceworkpiece;
if workpiece=ture
MoveJ placemiddle, v2000, z5, too10;
MoveJ placeworkpiece, v2000, z5, too10;
MoveJ Offs(placeworkpiece,0,0,300), v500, z200, too10;
SetDo DO10_pickup1,0;
A:
TPErase;
IF DI10_pickon=1
THEN
(pickon 为 PLC 检测已放好信号)
WaitTime 0;
ELSEIF DI10_pickup=0 THEN
TPWrite "PLC-pickON signal no ready.";
GOTO A;
workpiece=false
ENDIF
endproc
PROC rInitial()
TpReadFk nInput,"Is the pack_machine ready","","","","No","Yes";(机器是否准备好)
If nInput=4 Then
bReady:=False;
stop;
ElseIF nInput=5 then
bReady:=True;
ENDIF
bFirstPickBoard:=True;
TpReadFk nInput,"Do you want to place workpiece","","","","No","Yes";(机器人抓头是
否工件)
If nInput=4 Then
workpiece:=False;
ElseIF nInput=5 then
workpiece:=True;
ENDPROC
PROC rMoveHome()
(定义原点)
此例行程序可以方便地回到等待位置
MoveJ pHome, 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。
MODULE Data
此模块专门用于存放程序数据的
!target
CONST jointtarget home_pos := [ [ 0, 0, 0, 0, 90, 0], [ 9E9, 9E9, 9E9, 9E9, 9E9, 9E9] ];
CONST jointtarget delta_pos := [ [ 2, 2, 2, 2, 2, 2], [ 9E9, 9E9, 9E9, 9E9, 9E9, 9E9] ];
CONST jointtarget jhome := [ [ 0, 0, 0, 0, 90, 0], [ 9E9, 9E9, 9E9, 9E9, 9E9, 9E9] ];
PERS robtarget
roFetch:=[[2000,0,233.483269239532],[0,0,1,0],[0,0,0,0],[9E9,9E9,9E9,9E9,9E9,9E9]];
PERS robtarget
roDeFetch:=[[2000,1000,233.483269239532],[0,0,1,0],[0,0,0,0],[9E9,9E9,9E9,9E9,9E9,9E9]];
VAR wzstationary home;
VAR shapedata joint_space;
VAR num nu_inhome;
VAR bool flag1:=FALSE;
ENDMODULE
%%%
%%%
VERSION: 1
LANGUAGE: ENGLISH
MODULE CalibData
此模块用于存放需要设定的程序数据
TASK PERS tooldata
Tooldata_1:=[TRUE,[[0,0,1000],[1,0,0,0]],[1,[0,0,1],[1,0,0,0],0,0,0]];
TASK PERS wobjdata
Workobject_1:=[FALSE,TRUE,"",[[0,0,0],[1,0,0,0]],[[0,0,0],[1,0,0,0]]];
ENDMODULE