《工业机器人应用基础》张宪民、杨丽新、黄沿江(典型应用案例程序代码)舒恬.pdfVIP

6.1程序

MODULEMainModule

CONSTrobtargetp10:=[[156.92,349.54,208.19],[0-

0.458081,0.888909,-0.000532315],[0,-

1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];

CONSTrobtargetp20:=[[156.93,349.53,227.14],[0-

0.458076,0.888912,-0.000551955],[0,-

1,0,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];

CONSTrobtargetp30:=[[159.96,176.62,337.19],[0-

0.458072,0.888914,-0.000578824],[0,-1,-

1,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];

CONSTrobtargetp40:=[[443.24,-326.52,371.19],[0.000835772,-

0.636028,0.771665,-0.000604238],[-1,0,-

2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];

CONSTrobtargetp50:=[[442.30,-325.65,327.31],[0.000123406,-0.0221089,-

0.999755,-0.000870254],[-1,0,-5,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];

CONSTrobtargetp60:=[[283.30,-99.91,368.12],[0.000731079,-

0.758036,0.652212,-0.000706592],[-1,0,-

2,0],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];

PROCmain()

MoveAbsJMoveAbsJ

WaitDIdi0,1;

Resetdo0;

MoveJp30,v200,z0,tool0;

MoveJp20,v200,z0,tool0;

MoveJp10,v20,z0,tool0;

WaitTime1;

Setdo1;

WaitTime1;

MoveJp20,v20,z0,tool0;

MoveJp30,v200,z0,tool0;

MoveJp60,v200,z0,tool0;

MoveJp40,v200,z0,tool0;

MoveJp50,v10,z0,tool0;

WaitTime1;

Resetdo1;

WaitTime1;

MoveJp40,v10,z0,tool0;

MoveAbsJMoveAbsJ

Setdo0;

ENDPROC

ENDMODULE

6.2程序

1INT

2PTPHOMEVel=l00%DEFAULT

3PTPPlVel=30%PDATlARC_ONPSSSean1Tool[l]:toollBase[0]

4LINP2CONTCPDAT1ARCPSW1Tool[l]:toollBase[0]

5LINP3CPDAT2ARC_OFFPSW2ESeam1Tool[l]:toollBase[0]

6PTPP4Vel