abb机器人搬运码垛程序教学文案.doc

abb机器人搬运码垛程序

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MODULE maduo
VAR num nox:=0;VAR num noy:=0;VAR num noz:=0;VAR num disx:=0;VAR num disy:=0;VAR num disz:=0;
VAR num a1:=0;VAR num b1:=0;VAR num c1:=0;

CONST robtarget pPick:=[[1962.00,-140.49,745.92],[0.199803,-4.33198E-07,0.979836,-2.86531E-07],[-1,-3,2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];

CONST jointtarget home1:=[[2.97566,-16.7117,15.2556,-4.92418,31.5841,5.68641],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
PERS robtarget pPlace:=[[1919.7,937.54,529.48],[0.199803,-3.69944E-07,0.979836,-4.20685E-07],[0,-2,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget pPlace10:=[[1719.70,837.54,429.48],[0.199803,-3.69944E-07,0.979836,-4.20685E-07],[0,-2,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
CONST robtarget wating01:=[[1753.43,219.90,1023.02],[0.199803,-2.46214E-07,0.979836,-5.32938E-07],[0,-2,1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
PROC main()
Initall;

prg1;

ENDPROC

PROC Initall()
AccSet 100,100;
VelSet 100, 2000;
nox:=3;noy:=2;noz:=2;
disx:=100;disy:=100;disz:=100;
a1:=1;b1:=1;c1:=1;

ENDPROC
PROC prg1()
MoveAbsJ home1\NoEOffs, v1000, z50, pick1;
FOR k FROM 1 TO noz DO
FOR j FROM 1 TO noy DO
FOR i FROM 1 TO nox DO

pickandplace;
a1:=a1+1;

ENDFOR
a1:=1;
b1:=b1+1;
ENDFOR
a1:=1;b1:=1;
c1:=c1+1;
ENDFOR

MoveAbsJ home1\NoEOffs, v1000, z50, pick1;

ENDPROC
PROC pickandplace()
MoveJ wating01, v1000, z50, pick1;
MoveJ Offs(pPick,0,0,200), v1000, z50, pick1;
MoveL pPick, v1000, fine, pick1;
Set do1;
MoveL Offs(pPick,0,0,200), v1000, z50, pick1;
MoveJ wating01, v1000, z50, pick1;
!MoveL pPlace10, v1000, z50, pick1;
pPlace:=Offs(pPlace10,(a1-1)*disx,(b1-1)*disy,(c1-1)*disz);
MoveJ Offs(pPlace,0,0,200), v1000, z50 ,pick1;
MoveL pPlace, v1000, fine, pick1;
Reset do1;
MoveL Offs(pPlace,0,0,200), v1000, fine, pick1;
MoveJ wating01, v1000, z50, pick1;

ENDPROC
endmodule
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