ABBrobotstudio使用详细步骤Word文档下载推荐.docx
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ABBrobotstudio使用详细步骤Word文档下载推荐.docx
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五、参考代码
MODULEMainMoudle
PERStooldatatGrip:
=[TRUE,[[0,0,200],[1,0,0,0]],[25,[0,0.00109327,116.889],[1,0,0,0],0,0,0]];
!
吸盘工具数据
PERSloaddataLoadEmpty:
=[0.01,[0,0,1],[1,0,0,0],0,0,0];
PERSloaddataLoadFull:
=[40,[0,0,50],[1,0,0,0],0,0,0];
有效载荷数据
PERSrobtarget
pHome:
=[[1620.00,-0.00,1331.59],[1.27986E-06,-0.707107,-0.707107,1.27986E-06],[0,0,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
基准点
pActualPos:
=[[1620,-1.87531E-14,1331.59],[1.27986E-06,-0.707107,-0.707107,1.27986E-06],[0,0,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
实际点
pPick1:
=[[1488.007792464,376.826660408,476.964684195],[0,0.707106307,0.707107256,0],[0,0,1,0],[9E9,9E9,9E9,9E9,9E9,9E9]];
1路拾取目标点
PERSrobtargetpPlace1:
=[[-292.446,1263.27,55.4492],[0,0.707107,0.707106,0],[1,0,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
1路放置基准点
pBase1_0:
=[[-292.446294945,1263.272085268,55.449220723],[0,0.707107387,0.707106176
0],[1,0,2,0],[9E9,9E9,9E9,9E9,9E9,9E9]];
1路放置0度姿态
PERSrobtargetpBase1_90:
=[[-391.976797324,1362.469634994,55.449159414],[0,1,-0.000030621,0],[1,0,3,0],[9E9,9E9,9E9,9E9,9E9,9E9]];
1路放置90度姿态
PERSrobtargetpPick2:
=[[1488.013130905,-358.406014736,476.965039287],[0,0.707106307,0.707107256,0],[-1,0,0,0],[9E9,9E9,9E9,9E9,9E9,9E9]];
PERSrobtargetpPlace2:
=[[-317.378,-1857.99,55.449],[0,0.707108,0.707106,0],[-2,0,-1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
PERSrobtargetpBase2_0:
=[[-317.378137718,-1857.993871961,55.448967354],[0,0.707107745,0.707105817,0],[-2,0,-1,0],[9E9,9E9,9E9,9E9,9E9,9E9]];
PERSrobtargetpBase2_90:
=[[-407.525988074,-1755.902485322,55.449282402],[0,1,-0.000031217,0],[-2,0,0,0],[9E9,9E9,9E9,9E9,9E9,9E9]];
PERSspeeddataMinSpeed:
=[1000,300,5000,1000];
PERSspeeddataMidSpeed:
=[2500,400,5000,1000];
PERSspeeddataMaxSpeed:
=[4000,500,5000,1000];
搬运速度定义
PERSboolbPalletFull1:
=FALSE;
PERSboolbPalletFull2:
!
逻辑布尔量,拾取后为UE,放置后为FALSE
PERSnumnCount1:
=1;
PERSnumnCount2:
输送链计数
PROCMain()
rInitAll;
WHILETRUEDO
IFdiBoxInPos1=1ANDdiPalletInPos1=1ANDbPalletFull1=FALSETHENrPick1;
rPlace1;
ENDIF
IFdiBoxInPos2=1ANDdiPalletInPos2=1ANDbPalletFull2=FALSETHENrPick2;
rPlace2;
WaitTime0.1;
ENDWHILE
ENDPROC
PROCrInitAll()
ResetdoGrip;
=CRobT(\tool:
=tGrip);
pActualPos.trans.z:
=pHome.trans.z;
MoveLpActualPos,MinSpeed,fine,tGrip\WObj:
=wobj0;
MoveJpHome,MidSpeed,fine,tGrip\WObj:
bPalletFull1:
nCount1:
bPalletFull2:
nCount2:
PROCrPick1()
MoveJOffs(pPick1,0,0,400),MaxSpeed,z50,tGrip\WObj:
MoveLpPick1,MinSpeed,fine,tGrip\WObj:
SetdoGrip;
WaitTime0.3;
GripLoadLoadFull;
MoveLOffs(pPick1,0,0,400),MinSpeed,z50,tGrip\WObj:
PROCrPick2()
MoveJOffs(pPick2,0,0,400),MaxSpeed,z50,tGrip\WObj:
MoveLpPick2,MinSpeed,fine,tGrip\WObj:
MoveLOffs(pPick2,0,0,400),MinSpeed,z50,tGrip\WObj:
PROCrPlace1()
rPosition1;
MoveJOffs(pPlace1,0,0,400),MidSpeed,z50,tGrip\WObj:
MoveLpPlace1,MinSpeed,fine,tGrip\WObj:
GripLoadLoadEmpty;
MoveLOffs(pPlace1,0,0,400),MidSpeed,z50,tGrip\WObj:
nCount1:
=nCount1+1;
IFnCount1>
20THEN
=TRUE;
PROCrPlace2()
rPosition2;
MoveJOffs(pPlace2,0,0,400),MaxSpeed,z50,tGrip\WObj:
MoveLpPlace2,MinSpeed,fine,tGrip\WObj:
MoveLOffs(pPlace2,0,0,400),MidSpeed,z50,tGrip\WObj:
nCount2:
=nCount2+1;
IFnCount2>
PROCrPosition1()
TESTnCount1
CASE1:
pPlace1:
=Offs(pBase1_0,0,0,0);
CASE2:
=Offs(pBase1_0,600+10,0,0);
CASE3:
=Offs(pBase1_90,0,400+10,0);
CASE4:
pPlace1:
=Offs(pBase1_90,400+10,400+10,0);
CASE5:
=Offs(pBase1_90,800+20,400+10,0);
CASE6:
=Offs(pBase1_0,0,600+10,200);
CASE7:
=Offs(pBase1_0,600+10,600+10,200);
CASE8:
=Offs(pBase1_90,0,0,200);
CASE9:
=Offs(pBase1_90,400+10,0,200);
CASE10:
=Offs(pBase1_90,800+20,0,200);
CASE11:
=Offs(pBase1_0,0,0,400);
CASE12:
=Offs(pBase1_0,600+10,0,400);
CASE13:
=Offs(pBase1_90,0,400+10,400);
CASE14:
=Offs(pBase1_90,400+10,400+10,400);
CASE15:
=Offs(pBase1_90,800+20,400+10,400);
CASE16:
=Offs(pBase1_0,0,600+10,600);
CASE17:
=Offs(pBase1_0,600+10,600+10,600);
CASE18:
=Offs(pBase1_90,0,0,600);
CASE19:
=Offs(pBase1_90,400+10,0,600);
CASE20:
=Offs(pBase1_90,800+20,0,600);
DEFAULT:
TPErase;
TPWriteheCounterofline1iserror,pleasecheckit!
;
Stop;
ENDTEST
PROCrPosition2()
TESTnCount2
pPlace2:
=Offs(pBase2_0,0,0,0);
=Offs(pBase2_0,600+10,0,0);
=Offs(pBase2_90,0,400+10,0);
=Offs(pBase2_90,400+10,400+10,0);
=Offs(pBase2_90,800+20,400+10,0);
=Offs(pBase2_0,0,600+10,200);
pPlace2:
=Offs(pBase2_0,600+10,600+10,200);
=Offs(pBase2_90,0,0,200);
=Offs(pBase2_90,400+10,0,200);
=Offs(pBase2_90,800+20,0,200);
=Offs(pBase2_0,0,0,400);
=Offs(pBase2_0,600+10,0,400);
=Offs(pBase2_90,0,400+10,400);
=Offs(pBase2_90,400+10,400+10,400);
=Offs(pBase2_90,800+20,400+10,400);
=Offs(pBase2_0,0,600+10,600);
=Offs(pBase2_0,600+10,600+10,600);
=Offs(pBase2_90,0,0,600);
=Offs(pBase2_90,400+10,0,600);
=Offs(pBase2_90,800+20,0,600);
PROCrModify()
MoveJpHom
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