工业机器人技术应用 工业机器人的通讯 10.2程序整理改进H.pptxVIP

ABB;Part;运动指令修改;FOR i FROM 1 TO 4 DO MoveL Offs(pGrip_Box,n,0,40),v1000,z50,tool_jiazhua\WObj:=Wb_Hand; MoveL Offs(pGrip_Box,n,0,0),v500,z50,tool_jiazhua\WObj:=Wb_Hand; WaitTime 0.5; Set do_Grip_Box; WaitTime 0.5; MoveL Offs(pGrip_Box,n,0,50),v500,z50,tool_jiazhua\WObj:=Wb_Hand; MoveL Offs(pPlace_Box,0,0,30),v1000,z50,tool_jiazhua\WObj:=Wb_Hand; MoveL pPlace_Box,v1000,z50,tool_jiazhua\WObj:=Wb_Hand; WaitTime 0.2; ReSet do_Grip_Box; n:=n-80; ENDFOR;运动指令修改;Part;例行程序名称BanYun 调用初始化程序 调用夹爪工具拾取程序 中间变量初始化 机器人原点姿态目标点 料库四工件循环搬运程序 等待0.5S 置位搬运完成信号 等待0.5S 机器人原点姿态目标点 例行程序结束;FOR i FROM 1 TO 4 DO MoveL Offs(pGrip_Box,n,0,40),v500,fine,tool_jiazhua\WObj:=Wb_Hand; MoveL Offs(pGrip_Box,n,0,0),v40,fine,tool_jiazhua\WObj:=Wb_Hand; WaitTime 0.5; Set do_Grip_Box; WaitTime 0.5; MoveL Offs(pGrip_Box,n,0,50),v50,fine,tool_jiazhua\WObj:=Wb_Hand; MoveL Offs(pPlace_Box,0,0,30),v500,fine,tool_jiazhua\WObj:=Wb_Hand; MoveL pPlace_Box,v20,fine,tool_jiazhua\WObj:=Wb_Hand; WaitTime 0.2; ReSet do_Grip_Box; n:=n-80; ENDFOR;Part;运动指令修改;THANK YOU