2024年5月30日发(作者：)

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 offspPointA,0,200,500, v1500, z100,tGripper;

MoveJ offspPointA,0,200,0, v1500, z50,tGripper;

A:

TPErase;

IF DIAllowPick=1THEN

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 offspPointA,0,0,500, v1000, z100, tGripper;

MoveJ offspPointB,0,0,200, v1000, z50, tGripperWObj:=WobBox;

MoveL pPointB, v1000, fine, tGripperWObj:=WobBox;

SetDo DOGrip,0;

WaitDI DIGripReleased,1;

Gripload load_Empty;

MoveL offspPointB,0,200,0, v800, z50, tGripperWObj:=WobBox;

MoveJ offspPointB,0,200,500, v1500, z100, tGripperWObj:=WobBox;

ENDPROC

ENDMODULE

ABB机器人编程02

程序解析：

1、此程序编写的思路是完全按照比赛题目中的要求的进行,就是按步就班式的

2、思路清晰,结构编排明确,方便使用者阅读;

3、有相应的写屏信息提示,方便操作员对机器人运行状态的了解;

4、有一点小问题,就是缺少初始化的部分;

MODULEMainModule

CONSTrobtargetPHOME:=,,,,,,,0,0,0,1,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09;

CONSTrobtargetPA:=,,,,,,,-1,0,-2,1,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09;

CONSTrobtargetP20:=,,,,,,,-1,0,-3,1,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09;

CONSTrobtargetP30:=,,,,,,,0,0,-2,1,9E+09,9E+09,9E+09,9E+09,9E+09,9E+09;