ABB机器人编程程序解析.docVIP

? HYPERLINK /pinbodexiaozhu/article/detailsABB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()?????????主程序，是一个程序的开始????rInitial;????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;?????????????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 ??PROC rInitial()??????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, tGripp